From 48db6bec4eb3a1d94772f431f61bee2bdad0d310 Mon Sep 17 00:00:00 2001
From: Ryohei Ueda <ueda@jsk.t.u-tokyo.ac.jp>
Date: Tue, 14 Oct 2014 10:35:15 -0700
Subject: [PATCH] Fix topics for hydro/latest PR2

---
 jsk_pr2_startup/jsk_pr2_sensors/hydro_recognition.launch | 2 +-
 jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch       | 8 ++++----
 jsk_pr2_startup/jsk_pr2_sensors/tablet_startup.launch    | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/jsk_pr2_startup/jsk_pr2_sensors/hydro_recognition.launch b/jsk_pr2_startup/jsk_pr2_sensors/hydro_recognition.launch
index c519ccabe..8266d5f80 100644
--- a/jsk_pr2_startup/jsk_pr2_sensors/hydro_recognition.launch
+++ b/jsk_pr2_startup/jsk_pr2_sensors/hydro_recognition.launch
@@ -7,7 +7,7 @@
   </node>
   <arg name="camera" default="openni_c2" />
   <arg name="image_topic" default="image_rect_color" />
-  <arg name="depth_topic" default="image_rect_raw" />
+  <arg name="depth_topic" default="image_raw" />
   <arg name="fixed_frame" default="openni_rgb_optical_frame" />
   <arg name="depth_ns" default="depth_registered" />
 
diff --git a/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch b/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch
index df04d6724..fba6c0b61 100644
--- a/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch
+++ b/jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch
@@ -117,9 +117,9 @@
       <arg name="HEAD_NODELET_MANAGER" default="/openni_c2/openni_c2_nodelet_manager"/>
       <arg name="BASE_FRAME" value="/base_link"/>
   </include>
-  <include file="$(find jsk_pr2_startup)/jsk_pr2_sensors/openni_remote.launch" 
-           if="$(arg launch_c2_startup)">
-    <arg name="MACHINE_NAME" value="c2" />
-  </include>
+  <node type="openni_remote_launch.sh" pkg="jsk_pr2_startup"
+        name="openni_remote_launch_c2" output="screen"
+        machine="c2"
+        args="c2"/>
 
 </launch>
diff --git a/jsk_pr2_startup/jsk_pr2_sensors/tablet_startup.launch b/jsk_pr2_startup/jsk_pr2_sensors/tablet_startup.launch
index 43633adb8..c403b017b 100644
--- a/jsk_pr2_startup/jsk_pr2_sensors/tablet_startup.launch
+++ b/jsk_pr2_startup/jsk_pr2_sensors/tablet_startup.launch
@@ -2,7 +2,7 @@
   <!-- roslaunch local_app_manager app_manager.launch -->
 
   <include file="$(find jsk_android_gui_api9)/cameras_and_points_mux.launch">
-    <arg name="USE_NODELET" value="true"/>
+    <arg name="USE_NODELET" value="false"/>
   </include>
 
   <node name="tablet_receiver_default" pkg="jsk_smart_gui" respawn="true"