From e42f59c420f19a02197e80a0030026c2b1f43df9 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Mon, 9 Oct 2017 01:56:33 -0700
Subject: [PATCH 01/38] openni2_camera package as a subfolder.

---
 CHANGELOG.rst => openni2_camera/CHANGELOG.rst                     | 0
 CMakeLists.txt => openni2_camera/CMakeLists.txt                   | 0
 README.md => openni2_camera/README.md                             | 0
 {cfg => openni2_camera/cfg}/OpenNI2.cfg                           | 0
 .../include}/openni2_camera/openni2_convert.h                     | 0
 .../include}/openni2_camera/openni2_device.h                      | 0
 .../include}/openni2_camera/openni2_device_info.h                 | 0
 .../include}/openni2_camera/openni2_device_manager.h              | 0
 .../include}/openni2_camera/openni2_driver.h                      | 0
 .../include}/openni2_camera/openni2_exception.h                   | 0
 .../include}/openni2_camera/openni2_frame_listener.h              | 0
 .../include}/openni2_camera/openni2_timer_filter.h                | 0
 .../include}/openni2_camera/openni2_video_mode.h                  | 0
 openni2_nodelets.xml => openni2_camera/openni2_nodelets.xml       | 0
 package.xml => openni2_camera/package.xml                         | 0
 {ros => openni2_camera/ros}/openni2_camera_node.cpp               | 0
 {ros => openni2_camera/ros}/openni2_camera_nodelet.cpp            | 0
 {src => openni2_camera/src}/list_devices.cpp                      | 0
 {src => openni2_camera/src}/openni2_convert.cpp                   | 0
 {src => openni2_camera/src}/openni2_device.cpp                    | 0
 {src => openni2_camera/src}/openni2_device_info.cpp               | 0
 {src => openni2_camera/src}/openni2_device_manager.cpp            | 0
 {src => openni2_camera/src}/openni2_driver.cpp                    | 0
 {src => openni2_camera/src}/openni2_exception.cpp                 | 0
 {src => openni2_camera/src}/openni2_frame_listener.cpp            | 0
 {src => openni2_camera/src}/openni2_timer_filter.cpp              | 0
 {src => openni2_camera/src}/openni2_video_mode.cpp                | 0
 {src => openni2_camera/src}/usb_reset.c                           | 0
 {srv => openni2_camera/srv}/GetSerial.srv                         | 0
 {test => openni2_camera/test}/test_wrapper.cpp                    | 0
 30 files changed, 0 insertions(+), 0 deletions(-)
 rename CHANGELOG.rst => openni2_camera/CHANGELOG.rst (100%)
 rename CMakeLists.txt => openni2_camera/CMakeLists.txt (100%)
 rename README.md => openni2_camera/README.md (100%)
 rename {cfg => openni2_camera/cfg}/OpenNI2.cfg (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_convert.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_device.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_device_info.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_device_manager.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_driver.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_exception.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_frame_listener.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_timer_filter.h (100%)
 rename {include => openni2_camera/include}/openni2_camera/openni2_video_mode.h (100%)
 rename openni2_nodelets.xml => openni2_camera/openni2_nodelets.xml (100%)
 rename package.xml => openni2_camera/package.xml (100%)
 rename {ros => openni2_camera/ros}/openni2_camera_node.cpp (100%)
 rename {ros => openni2_camera/ros}/openni2_camera_nodelet.cpp (100%)
 rename {src => openni2_camera/src}/list_devices.cpp (100%)
 rename {src => openni2_camera/src}/openni2_convert.cpp (100%)
 rename {src => openni2_camera/src}/openni2_device.cpp (100%)
 rename {src => openni2_camera/src}/openni2_device_info.cpp (100%)
 rename {src => openni2_camera/src}/openni2_device_manager.cpp (100%)
 rename {src => openni2_camera/src}/openni2_driver.cpp (100%)
 rename {src => openni2_camera/src}/openni2_exception.cpp (100%)
 rename {src => openni2_camera/src}/openni2_frame_listener.cpp (100%)
 rename {src => openni2_camera/src}/openni2_timer_filter.cpp (100%)
 rename {src => openni2_camera/src}/openni2_video_mode.cpp (100%)
 rename {src => openni2_camera/src}/usb_reset.c (100%)
 rename {srv => openni2_camera/srv}/GetSerial.srv (100%)
 rename {test => openni2_camera/test}/test_wrapper.cpp (100%)

diff --git a/CHANGELOG.rst b/openni2_camera/CHANGELOG.rst
similarity index 100%
rename from CHANGELOG.rst
rename to openni2_camera/CHANGELOG.rst
diff --git a/CMakeLists.txt b/openni2_camera/CMakeLists.txt
similarity index 100%
rename from CMakeLists.txt
rename to openni2_camera/CMakeLists.txt
diff --git a/README.md b/openni2_camera/README.md
similarity index 100%
rename from README.md
rename to openni2_camera/README.md
diff --git a/cfg/OpenNI2.cfg b/openni2_camera/cfg/OpenNI2.cfg
similarity index 100%
rename from cfg/OpenNI2.cfg
rename to openni2_camera/cfg/OpenNI2.cfg
diff --git a/include/openni2_camera/openni2_convert.h b/openni2_camera/include/openni2_camera/openni2_convert.h
similarity index 100%
rename from include/openni2_camera/openni2_convert.h
rename to openni2_camera/include/openni2_camera/openni2_convert.h
diff --git a/include/openni2_camera/openni2_device.h b/openni2_camera/include/openni2_camera/openni2_device.h
similarity index 100%
rename from include/openni2_camera/openni2_device.h
rename to openni2_camera/include/openni2_camera/openni2_device.h
diff --git a/include/openni2_camera/openni2_device_info.h b/openni2_camera/include/openni2_camera/openni2_device_info.h
similarity index 100%
rename from include/openni2_camera/openni2_device_info.h
rename to openni2_camera/include/openni2_camera/openni2_device_info.h
diff --git a/include/openni2_camera/openni2_device_manager.h b/openni2_camera/include/openni2_camera/openni2_device_manager.h
similarity index 100%
rename from include/openni2_camera/openni2_device_manager.h
rename to openni2_camera/include/openni2_camera/openni2_device_manager.h
diff --git a/include/openni2_camera/openni2_driver.h b/openni2_camera/include/openni2_camera/openni2_driver.h
similarity index 100%
rename from include/openni2_camera/openni2_driver.h
rename to openni2_camera/include/openni2_camera/openni2_driver.h
diff --git a/include/openni2_camera/openni2_exception.h b/openni2_camera/include/openni2_camera/openni2_exception.h
similarity index 100%
rename from include/openni2_camera/openni2_exception.h
rename to openni2_camera/include/openni2_camera/openni2_exception.h
diff --git a/include/openni2_camera/openni2_frame_listener.h b/openni2_camera/include/openni2_camera/openni2_frame_listener.h
similarity index 100%
rename from include/openni2_camera/openni2_frame_listener.h
rename to openni2_camera/include/openni2_camera/openni2_frame_listener.h
diff --git a/include/openni2_camera/openni2_timer_filter.h b/openni2_camera/include/openni2_camera/openni2_timer_filter.h
similarity index 100%
rename from include/openni2_camera/openni2_timer_filter.h
rename to openni2_camera/include/openni2_camera/openni2_timer_filter.h
diff --git a/include/openni2_camera/openni2_video_mode.h b/openni2_camera/include/openni2_camera/openni2_video_mode.h
similarity index 100%
rename from include/openni2_camera/openni2_video_mode.h
rename to openni2_camera/include/openni2_camera/openni2_video_mode.h
diff --git a/openni2_nodelets.xml b/openni2_camera/openni2_nodelets.xml
similarity index 100%
rename from openni2_nodelets.xml
rename to openni2_camera/openni2_nodelets.xml
diff --git a/package.xml b/openni2_camera/package.xml
similarity index 100%
rename from package.xml
rename to openni2_camera/package.xml
diff --git a/ros/openni2_camera_node.cpp b/openni2_camera/ros/openni2_camera_node.cpp
similarity index 100%
rename from ros/openni2_camera_node.cpp
rename to openni2_camera/ros/openni2_camera_node.cpp
diff --git a/ros/openni2_camera_nodelet.cpp b/openni2_camera/ros/openni2_camera_nodelet.cpp
similarity index 100%
rename from ros/openni2_camera_nodelet.cpp
rename to openni2_camera/ros/openni2_camera_nodelet.cpp
diff --git a/src/list_devices.cpp b/openni2_camera/src/list_devices.cpp
similarity index 100%
rename from src/list_devices.cpp
rename to openni2_camera/src/list_devices.cpp
diff --git a/src/openni2_convert.cpp b/openni2_camera/src/openni2_convert.cpp
similarity index 100%
rename from src/openni2_convert.cpp
rename to openni2_camera/src/openni2_convert.cpp
diff --git a/src/openni2_device.cpp b/openni2_camera/src/openni2_device.cpp
similarity index 100%
rename from src/openni2_device.cpp
rename to openni2_camera/src/openni2_device.cpp
diff --git a/src/openni2_device_info.cpp b/openni2_camera/src/openni2_device_info.cpp
similarity index 100%
rename from src/openni2_device_info.cpp
rename to openni2_camera/src/openni2_device_info.cpp
diff --git a/src/openni2_device_manager.cpp b/openni2_camera/src/openni2_device_manager.cpp
similarity index 100%
rename from src/openni2_device_manager.cpp
rename to openni2_camera/src/openni2_device_manager.cpp
diff --git a/src/openni2_driver.cpp b/openni2_camera/src/openni2_driver.cpp
similarity index 100%
rename from src/openni2_driver.cpp
rename to openni2_camera/src/openni2_driver.cpp
diff --git a/src/openni2_exception.cpp b/openni2_camera/src/openni2_exception.cpp
similarity index 100%
rename from src/openni2_exception.cpp
rename to openni2_camera/src/openni2_exception.cpp
diff --git a/src/openni2_frame_listener.cpp b/openni2_camera/src/openni2_frame_listener.cpp
similarity index 100%
rename from src/openni2_frame_listener.cpp
rename to openni2_camera/src/openni2_frame_listener.cpp
diff --git a/src/openni2_timer_filter.cpp b/openni2_camera/src/openni2_timer_filter.cpp
similarity index 100%
rename from src/openni2_timer_filter.cpp
rename to openni2_camera/src/openni2_timer_filter.cpp
diff --git a/src/openni2_video_mode.cpp b/openni2_camera/src/openni2_video_mode.cpp
similarity index 100%
rename from src/openni2_video_mode.cpp
rename to openni2_camera/src/openni2_video_mode.cpp
diff --git a/src/usb_reset.c b/openni2_camera/src/usb_reset.c
similarity index 100%
rename from src/usb_reset.c
rename to openni2_camera/src/usb_reset.c
diff --git a/srv/GetSerial.srv b/openni2_camera/srv/GetSerial.srv
similarity index 100%
rename from srv/GetSerial.srv
rename to openni2_camera/srv/GetSerial.srv
diff --git a/test/test_wrapper.cpp b/openni2_camera/test/test_wrapper.cpp
similarity index 100%
rename from test/test_wrapper.cpp
rename to openni2_camera/test/test_wrapper.cpp

From 4cc124fefda01220277e8c7bc97e9be6fa693b42 Mon Sep 17 00:00:00 2001
From: Julius Kammerl <julius@kammerl.de>
Date: Fri, 26 Apr 2013 19:31:18 -0700
Subject: [PATCH 02/38] initial commit

---
 CMakeLists.txt                     | 11 +++++
 launch/includes/color.launch       | 21 +++++++++
 launch/includes/depth.launch       | 43 +++++++++++++++++
 launch/includes/device.launch      | 48 +++++++++++++++++++
 launch/includes/ir.launch          | 21 +++++++++
 launch/includes/manager.launch     | 19 ++++++++
 launch/includes/pointclouds.launch | 32 +++++++++++++
 launch/includes/processing.launch  | 58 +++++++++++++++++++++++
 launch/kinect_frames.launch        | 22 +++++++++
 launch/openni.launch               | 76 ++++++++++++++++++++++++++++++
 package.xml                        | 24 ++++++++++
 11 files changed, 375 insertions(+)
 create mode 100644 CMakeLists.txt
 create mode 100644 launch/includes/color.launch
 create mode 100644 launch/includes/depth.launch
 create mode 100644 launch/includes/device.launch
 create mode 100644 launch/includes/ir.launch
 create mode 100644 launch/includes/manager.launch
 create mode 100644 launch/includes/pointclouds.launch
 create mode 100644 launch/includes/processing.launch
 create mode 100644 launch/kinect_frames.launch
 create mode 100644 launch/openni.launch
 create mode 100644 package.xml

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..7e2e015
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(openni2_launch)
+
+find_package(catkin)
+
+catkin_package()
+
+install(DIRECTORY launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+)
+
diff --git a/launch/includes/color.launch b/launch/includes/color.launch
new file mode 100644
index 0000000..c54bab8
--- /dev/null
+++ b/launch/includes/color.launch
@@ -0,0 +1,21 @@
+<!-- Load processing nodelets for the Color camera -->
+<launch>
+
+  <arg name="manager" />
+  <arg name="respawn" default="false" />
+
+  <arg name="rectify" default="true" />
+  
+  <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Color rectified image -->
+  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_color"
+        args="load image_proc/rectify $(arg manager)"
+        respawn="$(arg respawn)">
+    <remap from="image_mono" to="image" />
+  </node>  
+
+</launch>
diff --git a/launch/includes/depth.launch b/launch/includes/depth.launch
new file mode 100644
index 0000000..16fe4fb
--- /dev/null
+++ b/launch/includes/depth.launch
@@ -0,0 +1,43 @@
+<!-- Load processing nodelets for the depth camera -->
+<launch>
+
+  <arg name="manager" />
+
+  <arg name="rectify" default="true" />
+
+  <arg name="respawn" default="false" />
+  
+    <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+  
+  <arg name="suffix" default="$(arg depth)_$(arg rgb)" />
+  
+  <!-- Rectified raw image -->
+  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_depth"
+        args="load image_proc/rectify $(arg manager)"
+	respawn="$(arg respawn)">
+    <remap from="image_mono"  to="image" />
+    <remap from="image_rect"  to="image_rect" />
+
+    <!-- Use nearest neighbor (0) interpolation so we don't streak across
+	 depth boundaries -->
+    <param name="interpolation" value="0" />
+  </node>
+
+  <!-- Rectified raw image  -->
+  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_depth_raw"
+        args="load image_proc/rectify $(arg manager)"
+	respawn="$(arg respawn)">
+    <remap from="image_mono"  to="image_raw" />
+    <remap from="image_rect"  to="image_rect_raw" />
+
+    <!-- Use nearest neighbor (0) interpolation so we don't streak across
+	 depth boundaries -->
+    <param name="interpolation" value="0" />
+  </node>
+
+
+
+</launch>
diff --git a/launch/includes/device.launch b/launch/includes/device.launch
new file mode 100644
index 0000000..bab82ab
--- /dev/null
+++ b/launch/includes/device.launch
@@ -0,0 +1,48 @@
+<!-- Launch the OpenNI device driver -->
+<launch>
+
+  <!-- Name of nodelet manager, must be fully resolved -->
+  <arg name="manager" />
+
+  <!-- Driver parameters -->
+  <arg name="device_id" />
+  <arg name="rgb_frame_id" />
+  <arg name="depth_frame_id" />
+  <arg name="rgb_camera_info_url" />
+  <arg name="depth_camera_info_url" />
+  
+  <arg name="depth_registration" default="true" />
+  <arg name="color_depth_synchronization" default="false" />
+  <arg name="auto_exposure" default="true" />    
+  <arg name="auto_white_balance" default="true" />    
+
+  <arg name="respawn" default="false" />
+  
+  <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Driver nodelet -->
+  <node pkg="nodelet" type="nodelet" name="driver" 
+        args="load openni2_camera/OpenNI2DriverNodelet $(arg manager)"
+	respawn="$(arg respawn)">
+    <param name="device_id" value="$(arg device_id)" />
+    <param name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
+    <param name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
+    <param name="rgb_frame_id"   value="$(arg rgb_frame_id)" />
+    <param name="depth_frame_id" value="$(arg depth_frame_id)" />
+    
+    <param name="depth_registration" value="$(arg depth_registration)" />
+    <param name="color_depth_synchronization" value="$(arg color_depth_synchronization)" />
+    <param name="auto_exposure" value="$(arg auto_exposure)" />
+    <param name="auto_white_balance" value="$(arg auto_white_balance)" />
+
+    <remap from="ir" to="$(arg ir)" />
+    <remap from="rgb" to="$(arg rgb)" />
+    <remap from="depth" to="$(arg depth)" />
+  </node>
+  
+  
+
+</launch>
diff --git a/launch/includes/ir.launch b/launch/includes/ir.launch
new file mode 100644
index 0000000..0a1fda4
--- /dev/null
+++ b/launch/includes/ir.launch
@@ -0,0 +1,21 @@
+<!-- Load processing nodelets for the IR camera -->
+<launch>
+
+  <arg name="manager" />
+  <arg name="respawn" default="false" />
+  
+  <arg name="rectify" default="true" />
+
+  <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Rectified image -->
+  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_ir"
+        args="load image_proc/rectify $(arg manager)"
+	respawn="$(arg respawn)">
+    <remap from="image_mono"  to="image" />
+  </node>
+
+</launch>
diff --git a/launch/includes/manager.launch b/launch/includes/manager.launch
new file mode 100644
index 0000000..43abf70
--- /dev/null
+++ b/launch/includes/manager.launch
@@ -0,0 +1,19 @@
+<!-- Start nodelet manager -->
+<launch>
+
+  <!-- Name here should NOT be globally qualified (node names cannot contain /) -->
+  <arg name="name" />
+
+  <!-- Optionally launch manager in GDB, for debugging -->
+  <arg name="debug" default="false" />
+  <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <!-- Also globally disable bond heartbeat timeout in debug mode, so everything
+       doesn't die when you hit a break point -->
+  <param if="$(arg debug)" name="/bond_disable_heartbeat_timeout" value="true" />
+
+  <!-- Nodelet manager -->
+  <node pkg="nodelet" type="nodelet" name="$(arg name)" args="manager"
+        output="screen" launch-prefix="$(arg launch_prefix)" />
+
+</launch>
diff --git a/launch/includes/pointclouds.launch b/launch/includes/pointclouds.launch
new file mode 100644
index 0000000..1b2d7f7
--- /dev/null
+++ b/launch/includes/pointclouds.launch
@@ -0,0 +1,32 @@
+<!-- Load processing nodelets for the Color camera -->
+<launch>
+
+  <arg name="manager" />
+  <arg name="respawn" default="false" />
+
+  <arg name="points_xyz" default="true" />
+
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+  
+  <arg name="suffix" default="$(arg depth)_$(arg rgb)" /> 
+    
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb_$(arg suffix)"
+        args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)" respawn="$(arg respawn)">
+    <!-- Explicit topic remappings, shouldn't need all of these -->
+    <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect" />
+    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
+    <remap from="depth_registered/image_rect" to="$(arg depth)/image_rect_raw" />
+    <remap from="depth_registered/points"     to="$(arg depth)/points_xyzrgb" />
+  </node>
+  
+  <node pkg="nodelet" type="nodelet" name="points_xyz_$(arg suffix)"
+        args="load depth_image_proc/point_cloud_xyz $(arg manager)" respawn="$(arg respawn)">
+    <remap from="image_rect" to="$(arg depth)/image_rect_raw"/>  <!-- Use raw image for efficiency -->
+    <remap from="points"     to="$(arg depth)/points_xyz" />
+  </node>
+  
+  
+  
+</launch>
diff --git a/launch/includes/processing.launch b/launch/includes/processing.launch
new file mode 100644
index 0000000..8e4eb48
--- /dev/null
+++ b/launch/includes/processing.launch
@@ -0,0 +1,58 @@
+<!-- Load full set of processing nodelets for an OpenNI device -->
+<launch>
+
+  <!-- Name of nodelet manager, must be fully resolved -->
+  <arg name="manager" />
+
+  <arg name="respawn" default="false" />
+  
+  <arg name="rectify" default="true" />
+  
+  <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- IR processing -->
+  <include file="$(find openni2_launch)/launch/includes/ir.launch"
+	   ns="$(arg ir)">
+    <arg name="manager" value="$(arg manager)" />
+    <arg name="respawn" value="$(arg respawn)" />
+    <arg name="rectify" value="$(arg rectify)" />
+    <arg name="rgb" value="$(arg rgb)" />
+    <arg name="ir" value="$(arg ir)" />
+    <arg name="depth" value="$(arg depth)" />
+  </include>
+  
+   <!-- Color processing -->
+  <include file="$(find openni2_launch)/launch/includes/color.launch"
+	   ns="$(arg rgb)">
+    <arg name="manager" value="$(arg manager)" />
+    <arg name="respawn" value="$(arg respawn)" />
+    <arg name="rectify" value="$(arg rectify)" />
+    <arg name="rgb" value="$(arg rgb)" />
+    <arg name="ir" value="$(arg ir)" />
+    <arg name="depth" value="$(arg depth)" />
+  </include>
+  
+     <!-- Pointcloud processing -->
+  <include file="$(find openni2_launch)/launch/includes/pointclouds.launch" >
+    <arg name="manager" value="$(arg manager)" /> 
+    <arg name="rgb" value="$(arg rgb)" />
+    <arg name="ir" value="$(arg ir)" />
+    <arg name="depth" value="$(arg depth)" />
+  </include>
+
+  <!-- Depth processing -->
+  <include file="$(find openni2_launch)/launch/includes/depth.launch"
+	   ns="$(arg depth)">
+    <arg name="manager" value="$(arg manager)" />
+    <arg name="respawn" value="$(arg respawn)" />
+    <arg name="rectify" value="$(arg rectify)" />    
+    <arg name="rgb" value="$(arg rgb)" />
+    <arg name="ir" value="$(arg ir)" />
+    <arg name="depth" value="$(arg depth)" />
+  </include>
+
+
+</launch>
diff --git a/launch/kinect_frames.launch b/launch/kinect_frames.launch
new file mode 100644
index 0000000..774c88b
--- /dev/null
+++ b/launch/kinect_frames.launch
@@ -0,0 +1,22 @@
+<!-- Default frames for Kinect/PSDK5 devices
+     Places depth and RGB cameras in the same plane with 2.5cm baseline.
+     Calibration may improve results, but these defaults are reasonably accurate.
+-->
+<launch>
+  <arg name="camera" default="camera" />
+
+  <arg name="pi/2" value="1.5707963267948966" />
+  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
+
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
+        args="0 -0.02  0 0 0 0  /$(arg camera)_link /$(arg camera)_depth_frame 100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
+        args="0 -0.045 0 0 0 0  /$(arg camera)_link /$(arg camera)_rgb_frame 100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
+        args="$(arg optical_rotate) /$(arg camera)_depth_frame /$(arg camera)_depth_optical_frame  100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
+        args="$(arg optical_rotate) /$(arg camera)_rgb_frame /$(arg camera)_rgb_optical_frame 100" />  
+</launch>
+
+<!-- TODO Could instead store these in camera_pose_calibration format for consistency
+     with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->
diff --git a/launch/openni.launch b/launch/openni.launch
new file mode 100644
index 0000000..e3cfe54
--- /dev/null
+++ b/launch/openni.launch
@@ -0,0 +1,76 @@
+<!-- Entry point for using OpenNI devices -->
+<launch>
+
+  <!-- "camera" should uniquely identify the device. All topics are pushed down
+       into the "camera" namespace, and it is prepended to tf frame ids. -->
+  <arg name="camera" default="camera" />
+  <arg name="rgb_frame_id"   default="/$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="/$(arg camera)_depth_optical_frame" />
+
+  <arg name="device_id" default="#1" />
+
+  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
+       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
+       See camera_info_manager docs for calibration URL details. -->
+  <arg name="rgb_camera_info_url"   default="" />
+  <arg name="depth_camera_info_url" default="" />
+
+  <!-- Arguments for remapping all device namespaces -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
+       tree. Useful if you are playing back recorded raw data from a bag, or are
+       supplying a more accurate tf tree from calibration. -->
+  <arg name="load_driver" default="true" />
+  <arg name="publish_tf" default="true" />
+
+  <!-- Disable bond topics by default -->
+  <arg name="respawn" default="false" />
+
+  <!-- Start nodelet manager in top-level namespace -->
+  <arg name="manager" value="$(arg camera)_nodelet_manager" />
+  <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
+  <include file="$(find openni2_launch)/launch/includes/manager.launch">
+    <arg name="name" value="$(arg manager)" />
+    <arg name="debug" value="$(arg debug)" />
+  </include>
+
+  <!-- Push down all topics/nodelets into "camera" namespace -->
+  <group ns="$(arg camera)">
+
+    <!-- Load driver -->
+    <include if="$(arg load_driver)"
+	     file="$(find openni2_launch)/launch/includes/device.launch">
+      <!-- Could really use some syntactic sugar for this -->
+      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="device_id"             value="$(arg device_id)" />
+      <arg name="rgb_frame_id"          value="$(arg rgb_frame_id)" />
+      <arg name="depth_frame_id"        value="$(arg depth_frame_id)" />
+      <arg name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
+      <arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
+      <arg name="rgb"                   value="$(arg rgb)" />
+      <arg name="ir"                    value="$(arg ir)" />
+      <arg name="depth"                 value="$(arg depth)" />
+      <arg name="respawn"               value="$(arg respawn)" />
+    </include>
+
+    <!-- Load standard constellation of processing nodelets -->
+    <include file="$(find openni2_launch)/launch/includes/processing.launch">
+      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="rgb"                   value="$(arg rgb)" />
+      <arg name="ir"                    value="$(arg ir)" />
+      <arg name="depth"                 value="$(arg depth)" />
+      <arg name="respawn"               value="$(arg respawn)" />
+    </include>
+
+  </group> <!-- camera -->
+
+  <!-- Load reasonable defaults for the relative pose between cameras -->
+  <include if="$(arg publish_tf)"
+	   file="$(find openni2_launch)/launch/kinect_frames.launch">
+    <arg name="camera" value="$(arg camera)" />
+  </include>
+
+</launch>
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..53e1290
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,24 @@
+<package>
+  <name>openni2_launch</name>
+  <version>0.0.1</version>
+    <description>
+     Launch files to start the openni2_camera and load all nodelets to 
+     convert raw depth/RGB/IR streams to depth images, disparity images, 
+     and (registered) point clouds.
+    </description>
+
+  <maintainer email="jkammerl@todo.todo">Julius Kammerl</maintainer>
+
+  <license>BSD</license>
+
+  <author email="jkammerl@todo.todo">Julius Kammerl</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>depth_image_proc</run_depend>
+  <run_depend>image_proc</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>openni2_camera</run_depend>
+  <run_depend>tf</run_depend>
+
+</package>

From 13a4e91d010ba272ef6b5b8452b375b8a80ef057 Mon Sep 17 00:00:00 2001
From: Julius Kammerl <julius@kammerl.de>
Date: Mon, 29 Apr 2013 14:35:22 -0700
Subject: [PATCH 03/38] minor

---
 launch/openni.launch | 76 --------------------------------------------
 package.xml          |  4 +--
 2 files changed, 2 insertions(+), 78 deletions(-)
 delete mode 100644 launch/openni.launch

diff --git a/launch/openni.launch b/launch/openni.launch
deleted file mode 100644
index e3cfe54..0000000
--- a/launch/openni.launch
+++ /dev/null
@@ -1,76 +0,0 @@
-<!-- Entry point for using OpenNI devices -->
-<launch>
-
-  <!-- "camera" should uniquely identify the device. All topics are pushed down
-       into the "camera" namespace, and it is prepended to tf frame ids. -->
-  <arg name="camera" default="camera" />
-  <arg name="rgb_frame_id"   default="/$(arg camera)_rgb_optical_frame" />
-  <arg name="depth_frame_id" default="/$(arg camera)_depth_optical_frame" />
-
-  <arg name="device_id" default="#1" />
-
-  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
-       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
-       See camera_info_manager docs for calibration URL details. -->
-  <arg name="rgb_camera_info_url"   default="" />
-  <arg name="depth_camera_info_url" default="" />
-
-  <!-- Arguments for remapping all device namespaces -->
-  <arg name="rgb"              default="rgb" />
-  <arg name="ir"               default="ir" />
-  <arg name="depth"            default="depth" />
-
-  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
-       tree. Useful if you are playing back recorded raw data from a bag, or are
-       supplying a more accurate tf tree from calibration. -->
-  <arg name="load_driver" default="true" />
-  <arg name="publish_tf" default="true" />
-
-  <!-- Disable bond topics by default -->
-  <arg name="respawn" default="false" />
-
-  <!-- Start nodelet manager in top-level namespace -->
-  <arg name="manager" value="$(arg camera)_nodelet_manager" />
-  <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
-  <include file="$(find openni2_launch)/launch/includes/manager.launch">
-    <arg name="name" value="$(arg manager)" />
-    <arg name="debug" value="$(arg debug)" />
-  </include>
-
-  <!-- Push down all topics/nodelets into "camera" namespace -->
-  <group ns="$(arg camera)">
-
-    <!-- Load driver -->
-    <include if="$(arg load_driver)"
-	     file="$(find openni2_launch)/launch/includes/device.launch">
-      <!-- Could really use some syntactic sugar for this -->
-      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
-      <arg name="device_id"             value="$(arg device_id)" />
-      <arg name="rgb_frame_id"          value="$(arg rgb_frame_id)" />
-      <arg name="depth_frame_id"        value="$(arg depth_frame_id)" />
-      <arg name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
-      <arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
-      <arg name="rgb"                   value="$(arg rgb)" />
-      <arg name="ir"                    value="$(arg ir)" />
-      <arg name="depth"                 value="$(arg depth)" />
-      <arg name="respawn"               value="$(arg respawn)" />
-    </include>
-
-    <!-- Load standard constellation of processing nodelets -->
-    <include file="$(find openni2_launch)/launch/includes/processing.launch">
-      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
-      <arg name="rgb"                   value="$(arg rgb)" />
-      <arg name="ir"                    value="$(arg ir)" />
-      <arg name="depth"                 value="$(arg depth)" />
-      <arg name="respawn"               value="$(arg respawn)" />
-    </include>
-
-  </group> <!-- camera -->
-
-  <!-- Load reasonable defaults for the relative pose between cameras -->
-  <include if="$(arg publish_tf)"
-	   file="$(find openni2_launch)/launch/kinect_frames.launch">
-    <arg name="camera" value="$(arg camera)" />
-  </include>
-
-</launch>
diff --git a/package.xml b/package.xml
index 53e1290..b3e03dd 100644
--- a/package.xml
+++ b/package.xml
@@ -7,11 +7,11 @@
      and (registered) point clouds.
     </description>
 
-  <maintainer email="jkammerl@todo.todo">Julius Kammerl</maintainer>
+  <maintainer email="jkammerl@willowgarage.com">Julius Kammerl</maintainer>
 
   <license>BSD</license>
 
-  <author email="jkammerl@todo.todo">Julius Kammerl</author>
+  <author email="kammerl@willowgarage.com">Julius Kammerl</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 

From b91477ecbdac22b9a2c7f5142ace8e90bc5e4138 Mon Sep 17 00:00:00 2001
From: Julius Kammerl <julius@kammerl.de>
Date: Mon, 29 Apr 2013 14:35:50 -0700
Subject: [PATCH 04/38] adding launch/openni2.launch

---
 launch/openni2.launch | 76 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 76 insertions(+)
 create mode 100644 launch/openni2.launch

diff --git a/launch/openni2.launch b/launch/openni2.launch
new file mode 100644
index 0000000..e3cfe54
--- /dev/null
+++ b/launch/openni2.launch
@@ -0,0 +1,76 @@
+<!-- Entry point for using OpenNI devices -->
+<launch>
+
+  <!-- "camera" should uniquely identify the device. All topics are pushed down
+       into the "camera" namespace, and it is prepended to tf frame ids. -->
+  <arg name="camera" default="camera" />
+  <arg name="rgb_frame_id"   default="/$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="/$(arg camera)_depth_optical_frame" />
+
+  <arg name="device_id" default="#1" />
+
+  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
+       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
+       See camera_info_manager docs for calibration URL details. -->
+  <arg name="rgb_camera_info_url"   default="" />
+  <arg name="depth_camera_info_url" default="" />
+
+  <!-- Arguments for remapping all device namespaces -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
+       tree. Useful if you are playing back recorded raw data from a bag, or are
+       supplying a more accurate tf tree from calibration. -->
+  <arg name="load_driver" default="true" />
+  <arg name="publish_tf" default="true" />
+
+  <!-- Disable bond topics by default -->
+  <arg name="respawn" default="false" />
+
+  <!-- Start nodelet manager in top-level namespace -->
+  <arg name="manager" value="$(arg camera)_nodelet_manager" />
+  <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
+  <include file="$(find openni2_launch)/launch/includes/manager.launch">
+    <arg name="name" value="$(arg manager)" />
+    <arg name="debug" value="$(arg debug)" />
+  </include>
+
+  <!-- Push down all topics/nodelets into "camera" namespace -->
+  <group ns="$(arg camera)">
+
+    <!-- Load driver -->
+    <include if="$(arg load_driver)"
+	     file="$(find openni2_launch)/launch/includes/device.launch">
+      <!-- Could really use some syntactic sugar for this -->
+      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="device_id"             value="$(arg device_id)" />
+      <arg name="rgb_frame_id"          value="$(arg rgb_frame_id)" />
+      <arg name="depth_frame_id"        value="$(arg depth_frame_id)" />
+      <arg name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
+      <arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
+      <arg name="rgb"                   value="$(arg rgb)" />
+      <arg name="ir"                    value="$(arg ir)" />
+      <arg name="depth"                 value="$(arg depth)" />
+      <arg name="respawn"               value="$(arg respawn)" />
+    </include>
+
+    <!-- Load standard constellation of processing nodelets -->
+    <include file="$(find openni2_launch)/launch/includes/processing.launch">
+      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="rgb"                   value="$(arg rgb)" />
+      <arg name="ir"                    value="$(arg ir)" />
+      <arg name="depth"                 value="$(arg depth)" />
+      <arg name="respawn"               value="$(arg respawn)" />
+    </include>
+
+  </group> <!-- camera -->
+
+  <!-- Load reasonable defaults for the relative pose between cameras -->
+  <include if="$(arg publish_tf)"
+	   file="$(find openni2_launch)/launch/kinect_frames.launch">
+    <arg name="camera" value="$(arg camera)" />
+  </include>
+
+</launch>

From 11081204c366cc58992e48ed959e82a06f7b7f35 Mon Sep 17 00:00:00 2001
From: Dave Hershberger <hersh@willowgarage.com>
Date: Tue, 23 Jul 2013 11:11:05 -0700
Subject: [PATCH 05/38] removed leading slashes from tf frames

---
 launch/kinect_frames.launch | 8 ++++----
 launch/openni2.launch       | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/launch/kinect_frames.launch b/launch/kinect_frames.launch
index 774c88b..64dec1a 100644
--- a/launch/kinect_frames.launch
+++ b/launch/kinect_frames.launch
@@ -9,13 +9,13 @@
   <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
 
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
-        args="0 -0.02  0 0 0 0  /$(arg camera)_link /$(arg camera)_depth_frame 100" />  
+        args="0 -0.02  0 0 0 0  $(arg camera)_link $(arg camera)_depth_frame 100" />  
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
-        args="0 -0.045 0 0 0 0  /$(arg camera)_link /$(arg camera)_rgb_frame 100" />  
+        args="0 -0.045 0 0 0 0  $(arg camera)_link $(arg camera)_rgb_frame 100" />  
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
-        args="$(arg optical_rotate) /$(arg camera)_depth_frame /$(arg camera)_depth_optical_frame  100" />  
+        args="$(arg optical_rotate) $(arg camera)_depth_frame $(arg camera)_depth_optical_frame  100" />  
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
-        args="$(arg optical_rotate) /$(arg camera)_rgb_frame /$(arg camera)_rgb_optical_frame 100" />  
+        args="$(arg optical_rotate) $(arg camera)_rgb_frame $(arg camera)_rgb_optical_frame 100" />  
 </launch>
 
 <!-- TODO Could instead store these in camera_pose_calibration format for consistency
diff --git a/launch/openni2.launch b/launch/openni2.launch
index e3cfe54..fe0dbbf 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -4,8 +4,8 @@
   <!-- "camera" should uniquely identify the device. All topics are pushed down
        into the "camera" namespace, and it is prepended to tf frame ids. -->
   <arg name="camera" default="camera" />
-  <arg name="rgb_frame_id"   default="/$(arg camera)_rgb_optical_frame" />
-  <arg name="depth_frame_id" default="/$(arg camera)_depth_optical_frame" />
+  <arg name="rgb_frame_id"   default="$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />
 
   <arg name="device_id" default="#1" />
 

From e2535362012aa083235349f01bf1643514b4cd58 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Wed, 4 Sep 2013 13:52:14 -0700
Subject: [PATCH 06/38] make device.launch internal

---
 launch/includes/device.launch.xml | 46 +++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 launch/includes/device.launch.xml

diff --git a/launch/includes/device.launch.xml b/launch/includes/device.launch.xml
new file mode 100644
index 0000000..be768f7
--- /dev/null
+++ b/launch/includes/device.launch.xml
@@ -0,0 +1,46 @@
+<!-- Launch the OpenNI2 device driver -->
+<launch>
+
+  <!-- Name of nodelet manager, must be fully resolved -->
+  <arg name="manager" />
+
+  <!-- Driver parameters -->
+  <arg name="device_id" />
+  <arg name="rgb_frame_id" />
+  <arg name="depth_frame_id" />
+  <arg name="rgb_camera_info_url" />
+  <arg name="depth_camera_info_url" />
+
+  <arg name="depth_registration" default="true" />
+  <arg name="color_depth_synchronization" default="false" />
+  <arg name="auto_exposure" default="true" />
+  <arg name="auto_white_balance" default="true" />
+
+  <arg name="respawn" default="false" />
+
+  <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Driver nodelet -->
+  <node pkg="nodelet" type="nodelet" name="driver"
+        args="load openni2_camera/OpenNI2DriverNodelet $(arg manager)"
+	    respawn="$(arg respawn)">
+    <param name="device_id" value="$(arg device_id)" />
+    <param name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
+    <param name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
+    <param name="rgb_frame_id"   value="$(arg rgb_frame_id)" />
+    <param name="depth_frame_id" value="$(arg depth_frame_id)" />
+
+    <param name="depth_registration" value="$(arg depth_registration)" />
+    <param name="color_depth_synchronization" value="$(arg color_depth_synchronization)" />
+    <param name="auto_exposure" value="$(arg auto_exposure)" />
+    <param name="auto_white_balance" value="$(arg auto_white_balance)" />
+
+    <remap from="ir" to="$(arg ir)" />
+    <remap from="rgb" to="$(arg rgb)" />
+    <remap from="depth" to="$(arg depth)" />
+  </node>
+
+</launch>

From 4ed6f55e13ba8b48b8e967f2aadd55d8316964e2 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Wed, 4 Sep 2013 18:52:35 -0700
Subject: [PATCH 07/38] update to use rgbd_launch, deprecate internal stuff

---
 launch/includes/color.launch       | 30 ++++++-------
 launch/includes/depth.launch       | 54 ++++++++---------------
 launch/includes/device.launch      | 43 ++++++------------
 launch/includes/ir.launch          | 29 ++++++-------
 launch/includes/manager.launch     | 29 ++++++-------
 launch/includes/pointclouds.launch | 43 ++++++++----------
 launch/includes/processing.launch  | 70 ++++++++----------------------
 launch/openni2.launch              | 35 ++++++++++++---
 8 files changed, 137 insertions(+), 196 deletions(-)

diff --git a/launch/includes/color.launch b/launch/includes/color.launch
index c54bab8..97966cf 100644
--- a/launch/includes/color.launch
+++ b/launch/includes/color.launch
@@ -1,21 +1,21 @@
 <!-- Load processing nodelets for the Color camera -->
 <launch>
 
-  <arg name="manager" />
-  <arg name="respawn" default="false" />
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
 
-  <arg name="rectify" default="true" />
-  
-  <!-- Remapping arguments -->
-  <arg name="rgb"              default="rgb" />
-  <arg name="ir"               default="ir" />
-  <arg name="depth"            default="depth" />
-
-  <!-- Color rectified image -->
-  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_color"
-        args="load image_proc/rectify $(arg manager)"
-        respawn="$(arg respawn)">
-    <remap from="image_mono" to="image" />
-  </node>  
+  <!-- deprecation notice -->
+  <node name="rgb_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="rgb.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/color.launch" />
+    <param name="to_pkg_path" value="launch/includes/rgb.launch.xml" />
+  </node>
 
 </launch>
diff --git a/launch/includes/depth.launch b/launch/includes/depth.launch
index 16fe4fb..508b6d4 100644
--- a/launch/includes/depth.launch
+++ b/launch/includes/depth.launch
@@ -1,43 +1,23 @@
 <!-- Load processing nodelets for the depth camera -->
 <launch>
 
-  <arg name="manager" />
-
-  <arg name="rectify" default="true" />
-
-  <arg name="respawn" default="false" />
-  
-    <!-- Remapping arguments -->
-  <arg name="rgb"              default="rgb" />
-  <arg name="ir"               default="ir" />
-  <arg name="depth"            default="depth" />
-  
-  <arg name="suffix" default="$(arg depth)_$(arg rgb)" />
-  
-  <!-- Rectified raw image -->
-  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_depth"
-        args="load image_proc/rectify $(arg manager)"
-	respawn="$(arg respawn)">
-    <remap from="image_mono"  to="image" />
-    <remap from="image_rect"  to="image_rect" />
-
-    <!-- Use nearest neighbor (0) interpolation so we don't streak across
-	 depth boundaries -->
-    <param name="interpolation" value="0" />
-  </node>
-
-  <!-- Rectified raw image  -->
-  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_depth_raw"
-        args="load image_proc/rectify $(arg manager)"
-	respawn="$(arg respawn)">
-    <remap from="image_mono"  to="image_raw" />
-    <remap from="image_rect"  to="image_rect_raw" />
-
-    <!-- Use nearest neighbor (0) interpolation so we don't streak across
-	 depth boundaries -->
-    <param name="interpolation" value="0" />
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="points_xyz" default="" />
+  <arg name="rectify" default="" />
+  <arg name="respawn" default="" />
+  <arg name="depth" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="depth.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/depth.launch" />
+    <param name="to_pkg_path" value="launch/includes/depth.launch.xml" />
   </node>
 
-
-
 </launch>
diff --git a/launch/includes/device.launch b/launch/includes/device.launch
index bab82ab..98e91a5 100644
--- a/launch/includes/device.launch
+++ b/launch/includes/device.launch
@@ -1,48 +1,31 @@
-<!-- Launch the OpenNI device driver -->
 <launch>
 
-  <!-- Name of nodelet manager, must be fully resolved -->
+  <!-- have all the old parameters to prevent roslaunch errors -->
   <arg name="manager" />
-
-  <!-- Driver parameters -->
   <arg name="device_id" />
   <arg name="rgb_frame_id" />
   <arg name="depth_frame_id" />
   <arg name="rgb_camera_info_url" />
   <arg name="depth_camera_info_url" />
-  
   <arg name="depth_registration" default="true" />
   <arg name="color_depth_synchronization" default="false" />
-  <arg name="auto_exposure" default="true" />    
-  <arg name="auto_white_balance" default="true" />    
-
+  <arg name="auto_exposure" default="true" />
+  <arg name="auto_white_balance" default="true" />
   <arg name="respawn" default="false" />
-  
-  <!-- Remapping arguments -->
   <arg name="rgb"              default="rgb" />
   <arg name="ir"               default="ir" />
   <arg name="depth"            default="depth" />
 
-  <!-- Driver nodelet -->
-  <node pkg="nodelet" type="nodelet" name="driver" 
-        args="load openni2_camera/OpenNI2DriverNodelet $(arg manager)"
-	respawn="$(arg respawn)">
-    <param name="device_id" value="$(arg device_id)" />
-    <param name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
-    <param name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
-    <param name="rgb_frame_id"   value="$(arg rgb_frame_id)" />
-    <param name="depth_frame_id" value="$(arg depth_frame_id)" />
-    
-    <param name="depth_registration" value="$(arg depth_registration)" />
-    <param name="color_depth_synchronization" value="$(arg color_depth_synchronization)" />
-    <param name="auto_exposure" value="$(arg auto_exposure)" />
-    <param name="auto_white_balance" value="$(arg auto_white_balance)" />
-
-    <remap from="ir" to="$(arg ir)" />
-    <remap from="rgb" to="$(arg rgb)" />
-    <remap from="depth" to="$(arg depth)" />
+  <!-- deprecation notice -->
+  <node name="device_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="device.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="openni2_launch" />
+    <param name="from_pkg_path" value="launch/includes/device.launch" />
+    <param name="to_pkg_path" value="launch/includes/device.launch.xml" />
   </node>
-  
-  
 
 </launch>
diff --git a/launch/includes/ir.launch b/launch/includes/ir.launch
index 0a1fda4..8bde33c 100644
--- a/launch/includes/ir.launch
+++ b/launch/includes/ir.launch
@@ -1,21 +1,20 @@
-<!-- Load processing nodelets for the IR camera -->
 <launch>
 
-  <arg name="manager" />
-  <arg name="respawn" default="false" />
-  
-  <arg name="rectify" default="true" />
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="ir" default="" />
 
-  <!-- Remapping arguments -->
-  <arg name="rgb"              default="rgb" />
-  <arg name="ir"               default="ir" />
-  <arg name="depth"            default="depth" />
-
-  <!-- Rectified image -->
-  <node if="$(arg rectify)" pkg="nodelet" type="nodelet" name="rectify_ir"
-        args="load image_proc/rectify $(arg manager)"
-	respawn="$(arg respawn)">
-    <remap from="image_mono"  to="image" />
+  <!-- deprecation notice -->
+  <node name="ir_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="ir.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/ir.launch" />
+    <param name="to_pkg_path" value="launch/includes/ir.launch.xml" />
   </node>
 
 </launch>
diff --git a/launch/includes/manager.launch b/launch/includes/manager.launch
index 43abf70..2a134e9 100644
--- a/launch/includes/manager.launch
+++ b/launch/includes/manager.launch
@@ -1,19 +1,18 @@
-<!-- Start nodelet manager -->
 <launch>
 
-  <!-- Name here should NOT be globally qualified (node names cannot contain /) -->
-  <arg name="name" />
-
-  <!-- Optionally launch manager in GDB, for debugging -->
-  <arg name="debug" default="false" />
-  <arg if="$(arg debug)" name="launch_prefix" value="xterm -e gdb --args" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <!-- Also globally disable bond heartbeat timeout in debug mode, so everything
-       doesn't die when you hit a break point -->
-  <param if="$(arg debug)" name="/bond_disable_heartbeat_timeout" value="true" />
-
-  <!-- Nodelet manager -->
-  <node pkg="nodelet" type="nodelet" name="$(arg name)" args="manager"
-        output="screen" launch-prefix="$(arg launch_prefix)" />
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="debug" default="" />
 
+  <!-- deprecation notice -->
+  <node name="manager_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="manager.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/manager.launch" />
+    <param name="to_pkg_path" value="launch/includes/manager.launch.xml" />
+  </node>
 </launch>
diff --git a/launch/includes/pointclouds.launch b/launch/includes/pointclouds.launch
index 1b2d7f7..2115b89 100644
--- a/launch/includes/pointclouds.launch
+++ b/launch/includes/pointclouds.launch
@@ -1,32 +1,23 @@
 <!-- Load processing nodelets for the Color camera -->
 <launch>
 
-  <arg name="manager" />
-  <arg name="respawn" default="false" />
+ <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="points_xyz" default="" />
+  <arg name="rectify" default="" />
+  <arg name="respawn" default="" />
+  <arg name="depth" default="" />
 
-  <arg name="points_xyz" default="true" />
-
-  <arg name="rgb"              default="rgb" />
-  <arg name="ir"               default="ir" />
-  <arg name="depth"            default="depth" />
-  
-  <arg name="suffix" default="$(arg depth)_$(arg rgb)" /> 
-    
-  <node pkg="nodelet" type="nodelet" name="points_xyzrgb_$(arg suffix)"
-        args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)" respawn="$(arg respawn)">
-    <!-- Explicit topic remappings, shouldn't need all of these -->
-    <remap from="rgb/image_rect_color"        to="$(arg rgb)/image_rect" />
-    <remap from="rgb/camera_info"             to="$(arg rgb)/camera_info" />
-    <remap from="depth_registered/image_rect" to="$(arg depth)/image_rect_raw" />
-    <remap from="depth_registered/points"     to="$(arg depth)/points_xyzrgb" />
-  </node>
-  
-  <node pkg="nodelet" type="nodelet" name="points_xyz_$(arg suffix)"
-        args="load depth_image_proc/point_cloud_xyz $(arg manager)" respawn="$(arg respawn)">
-    <remap from="image_rect" to="$(arg depth)/image_rect_raw"/>  <!-- Use raw image for efficiency -->
-    <remap from="points"     to="$(arg depth)/points_xyz" />
+  <!-- deprecation notice -->
+  <node name="depth_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="depth.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/pointclouds.launch" />
+    <param name="to_pkg_path" value="launch/includes/depth_registered.launch.xml" />
   </node>
-  
-  
-  
+
 </launch>
diff --git a/launch/includes/processing.launch b/launch/includes/processing.launch
index 8e4eb48..3203e8a 100644
--- a/launch/includes/processing.launch
+++ b/launch/includes/processing.launch
@@ -1,58 +1,22 @@
-<!-- Load full set of processing nodelets for an OpenNI device -->
 <launch>
 
-  <!-- Name of nodelet manager, must be fully resolved -->
-  <arg name="manager" />
-
-  <arg name="respawn" default="false" />
-  
-  <arg name="rectify" default="true" />
-  
-  <!-- Remapping arguments -->
-  <arg name="rgb"              default="rgb" />
-  <arg name="ir"               default="ir" />
-  <arg name="depth"            default="depth" />
-
-  <!-- IR processing -->
-  <include file="$(find openni2_launch)/launch/includes/ir.launch"
-	   ns="$(arg ir)">
-    <arg name="manager" value="$(arg manager)" />
-    <arg name="respawn" value="$(arg respawn)" />
-    <arg name="rectify" value="$(arg rectify)" />
-    <arg name="rgb" value="$(arg rgb)" />
-    <arg name="ir" value="$(arg ir)" />
-    <arg name="depth" value="$(arg depth)" />
-  </include>
-  
-   <!-- Color processing -->
-  <include file="$(find openni2_launch)/launch/includes/color.launch"
-	   ns="$(arg rgb)">
-    <arg name="manager" value="$(arg manager)" />
-    <arg name="respawn" value="$(arg respawn)" />
-    <arg name="rectify" value="$(arg rectify)" />
-    <arg name="rgb" value="$(arg rgb)" />
-    <arg name="ir" value="$(arg ir)" />
-    <arg name="depth" value="$(arg depth)" />
-  </include>
-  
-     <!-- Pointcloud processing -->
-  <include file="$(find openni2_launch)/launch/includes/pointclouds.launch" >
-    <arg name="manager" value="$(arg manager)" /> 
-    <arg name="rgb" value="$(arg rgb)" />
-    <arg name="ir" value="$(arg ir)" />
-    <arg name="depth" value="$(arg depth)" />
-  </include>
-
-  <!-- Depth processing -->
-  <include file="$(find openni2_launch)/launch/includes/depth.launch"
-	   ns="$(arg depth)">
-    <arg name="manager" value="$(arg manager)" />
-    <arg name="respawn" value="$(arg respawn)" />
-    <arg name="rectify" value="$(arg rectify)" />    
-    <arg name="rgb" value="$(arg rgb)" />
-    <arg name="ir" value="$(arg ir)" />
-    <arg name="depth" value="$(arg depth)" />
-  </include>
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+  <arg name="ir" default="" />
+  <arg name="depth" default="" />
 
+  <!-- deprecation notice -->
+  <node name="processing_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="processing.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/processing.launch" />
+    <param name="to_pkg_path" value="launch/includes/processing.launch.xml" />
+  </node>
 
 </launch>
diff --git a/launch/openni2.launch b/launch/openni2.launch
index fe0dbbf..8049bab 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -1,4 +1,4 @@
-<!-- Entry point for using OpenNI devices -->
+<!-- Entry point for using OpenNI2 devices -->
 <launch>
 
   <!-- "camera" should uniquely identify the device. All topics are pushed down
@@ -7,6 +7,9 @@
   <arg name="rgb_frame_id"   default="$(arg camera)_rgb_optical_frame" />
   <arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />
 
+  <!-- device_id can have the following formats:
+         "#1"  : the first device found
+         "2@X" : the Xth device on USB bus 2 -->
   <arg name="device_id" default="#1" />
 
   <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
@@ -25,16 +28,30 @@
        supplying a more accurate tf tree from calibration. -->
   <arg name="load_driver" default="true" />
   <arg name="publish_tf" default="true" />
+  <!-- Processing Modules -->
+  <arg name="rgb_processing"                  default="true"  />
+  <arg name="debayer_processing"              default="false" />
+  <arg name="ir_processing"                   default="false" />
+  <arg name="depth_processing"                default="true" />
+  <arg name="depth_registered_processing"     default="true" />
+  <arg name="disparity_processing"            default="false" />
+  <arg name="disparity_registered_processing" default="false" />
+  <arg name="hw_registered_processing"        default="true" />
+  <arg name="sw_registered_processing"        default="false" />
 
   <!-- Disable bond topics by default -->
   <arg name="respawn" default="false" />
 
+  <!-- Worker threads for the nodelet manager -->
+  <arg name="num_worker_threads" default="4" />
+
   <!-- Start nodelet manager in top-level namespace -->
   <arg name="manager" value="$(arg camera)_nodelet_manager" />
   <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
-  <include file="$(find openni2_launch)/launch/includes/manager.launch">
+  <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
     <arg name="name" value="$(arg manager)" />
     <arg name="debug" value="$(arg debug)" />
+    <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
   </include>
 
   <!-- Push down all topics/nodelets into "camera" namespace -->
@@ -42,8 +59,7 @@
 
     <!-- Load driver -->
     <include if="$(arg load_driver)"
-	     file="$(find openni2_launch)/launch/includes/device.launch">
-      <!-- Could really use some syntactic sugar for this -->
+	     file="$(find openni2_launch)/launch/includes/device.launch.xml">
       <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
       <arg name="device_id"             value="$(arg device_id)" />
       <arg name="rgb_frame_id"          value="$(arg rgb_frame_id)" />
@@ -57,12 +73,21 @@
     </include>
 
     <!-- Load standard constellation of processing nodelets -->
-    <include file="$(find openni2_launch)/launch/includes/processing.launch">
+    <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
       <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
       <arg name="rgb"                   value="$(arg rgb)" />
       <arg name="ir"                    value="$(arg ir)" />
       <arg name="depth"                 value="$(arg depth)" />
       <arg name="respawn"               value="$(arg respawn)" />
+      <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
+      <arg name="debayer_processing"              value="$(arg debayer_processing)" />
+      <arg name="ir_processing"                   value="$(arg ir_processing)" />
+      <arg name="depth_processing"                value="$(arg depth_processing)" />
+      <arg name="depth_registered_processing"     value="$(arg depth_registered_processing)" />
+      <arg name="disparity_processing"            value="$(arg disparity_processing)" />
+      <arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
+      <arg name="hw_registered_processing"        value="$(arg hw_registered_processing)" />
+      <arg name="sw_registered_processing"        value="$(arg sw_registered_processing)" />
     </include>
 
   </group> <!-- camera -->

From 5d63e16210e66957fc3f729bbb099c3263719502 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Wed, 4 Sep 2013 19:52:02 -0700
Subject: [PATCH 08/38] remap topics to work with rgbd_launch and be more
 standard

---
 launch/includes/device.launch.xml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/launch/includes/device.launch.xml b/launch/includes/device.launch.xml
index be768f7..dddf731 100644
--- a/launch/includes/device.launch.xml
+++ b/launch/includes/device.launch.xml
@@ -22,6 +22,7 @@
   <arg name="rgb"              default="rgb" />
   <arg name="ir"               default="ir" />
   <arg name="depth"            default="depth" />
+  <arg name="depth_registered" default="depth_registered" />
 
   <!-- Driver nodelet -->
   <node pkg="nodelet" type="nodelet" name="driver"
@@ -41,6 +42,10 @@
     <remap from="ir" to="$(arg ir)" />
     <remap from="rgb" to="$(arg rgb)" />
     <remap from="depth" to="$(arg depth)" />
+    <remap from="depth_registered" to="$(arg depth_registered)" />
+
+    <remap from="$(arg rgb)/image" to="$(arg rgb)/image_raw" />
+    <remap from="$(arg depth)/image" to="$(arg depth_registered)/image_raw" />
   </node>
 
 </launch>

From cdd43000fa56310ffdb5f147994c79622b232d4d Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Wed, 4 Sep 2013 20:13:01 -0700
Subject: [PATCH 09/38] update kinect_frames to use rgbd_launch version

---
 launch/kinect_frames.launch | 33 +++++++++++++++------------------
 launch/openni2.launch       |  2 +-
 2 files changed, 16 insertions(+), 19 deletions(-)

diff --git a/launch/kinect_frames.launch b/launch/kinect_frames.launch
index 64dec1a..1a24ce5 100644
--- a/launch/kinect_frames.launch
+++ b/launch/kinect_frames.launch
@@ -1,22 +1,19 @@
-<!-- Default frames for Kinect/PSDK5 devices
-     Places depth and RGB cameras in the same plane with 2.5cm baseline.
-     Calibration may improve results, but these defaults are reasonably accurate.
--->
 <launch>
-  <arg name="camera" default="camera" />
 
-  <arg name="pi/2" value="1.5707963267948966" />
-  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="camera" default="" />
+  <arg name="tf_prefix" default="" />
 
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
-        args="0 -0.02  0 0 0 0  $(arg camera)_link $(arg camera)_depth_frame 100" />  
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
-        args="0 -0.045 0 0 0 0  $(arg camera)_link $(arg camera)_rgb_frame 100" />  
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
-        args="$(arg optical_rotate) $(arg camera)_depth_frame $(arg camera)_depth_optical_frame  100" />  
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
-        args="$(arg optical_rotate) $(arg camera)_rgb_frame $(arg camera)_rgb_optical_frame 100" />  
-</launch>
+  <!-- deprecation notice -->
+  <node name="kinect_frames_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="kinect_frames.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/kinect_frames.launch" />
+    <param name="to_pkg_path" value="launch/kinect_frames.launch" />
+  </node>
 
-<!-- TODO Could instead store these in camera_pose_calibration format for consistency
-     with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->
+</launch>
diff --git a/launch/openni2.launch b/launch/openni2.launch
index 8049bab..5451070 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -94,7 +94,7 @@
 
   <!-- Load reasonable defaults for the relative pose between cameras -->
   <include if="$(arg publish_tf)"
-	   file="$(find openni2_launch)/launch/kinect_frames.launch">
+	   file="$(find rgbd_launch)/launch/kinect_frames.launch">
     <arg name="camera" value="$(arg camera)" />
   </include>
 

From 8ede07d324bafff960e5813269fe27589bd6dd9f Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Thu, 5 Sep 2013 15:27:57 -0700
Subject: [PATCH 10/38] manually update for machine parameters

---
 launch/openni2.launch | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index 5451070..b1a8d1d 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -23,6 +23,10 @@
   <arg name="ir"               default="ir" />
   <arg name="depth"            default="depth" />
 
+  <!-- Machine -->
+  <machine name="localhost" address="localhost" env-loader="/opt/ros/hydro/env.sh"/>
+  <arg name="machine"          default="localhost" />
+
   <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
        tree. Useful if you are playing back recorded raw data from a bag, or are
        supplying a more accurate tf tree from calibration. -->
@@ -51,6 +55,7 @@
   <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
     <arg name="name" value="$(arg manager)" />
     <arg name="debug" value="$(arg debug)" />
+    <arg name="machine" value="$(arg machine)" />
     <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
   </include>
 

From 31895bb029590276159dc79f83a685a2f2877c22 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Mon, 9 Sep 2013 23:27:44 -0700
Subject: [PATCH 11/38] update package.xml for new maintainer, and depend on
 rgbd_launch

---
 package.xml | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/package.xml b/package.xml
index b3e03dd..44114b2 100644
--- a/package.xml
+++ b/package.xml
@@ -1,20 +1,18 @@
 <package>
   <name>openni2_launch</name>
   <version>0.0.1</version>
-    <description>
-     Launch files to start the openni2_camera and load all nodelets to 
-     convert raw depth/RGB/IR streams to depth images, disparity images, 
-     and (registered) point clouds.
-    </description>
-
-  <maintainer email="jkammerl@willowgarage.com">Julius Kammerl</maintainer>
-
+  <description>
+    Launch files to start the openni2_camera drivers using rgbd_launch.
+  </description>
+  <maintainer email="developers@unboundedrobotics.com">Michael Ferguson</maintainer>
   <license>BSD</license>
 
   <author email="kammerl@willowgarage.com">Julius Kammerl</author>
+  <author email="developers@unboundedrobotics.com">Michael Ferguson</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <run_depend>rgbd_launch</run_depend>
   <run_depend>depth_image_proc</run_depend>
   <run_depend>image_proc</run_depend>
   <run_depend>nodelet</run_depend>

From 30bc81364c4c4064028fc381c1f2bb5ff4055cea Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Tue, 10 Sep 2013 03:43:40 -0700
Subject: [PATCH 12/38] 0.1.0

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index 44114b2..cd8230a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openni2_launch</name>
-  <version>0.0.1</version>
+  <version>0.1.0</version>
   <description>
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>

From ef38fb389b8fdf98377393af8f33ad41fafc316e Mon Sep 17 00:00:00 2001
From: Marcus Liebhardt <ich@marcusliebhardt.de>
Date: Mon, 16 Sep 2013 16:23:19 +0900
Subject: [PATCH 13/38] enables proper namespacing

---
 launch/openni2.launch | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index b1a8d1d..4f9d713 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -49,23 +49,23 @@
   <!-- Worker threads for the nodelet manager -->
   <arg name="num_worker_threads" default="4" />
 
-  <!-- Start nodelet manager in top-level namespace -->
-  <arg name="manager" value="$(arg camera)_nodelet_manager" />
-  <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
-  <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
-    <arg name="name" value="$(arg manager)" />
-    <arg name="debug" value="$(arg debug)" />
-    <arg name="machine" value="$(arg machine)" />
-    <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
-  </include>
-
   <!-- Push down all topics/nodelets into "camera" namespace -->
   <group ns="$(arg camera)">
+  
+	  <!-- Start nodelet manager -->
+	  <arg name="manager" value="$(arg camera)_nodelet_manager" />
+	  <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
+	  <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
+	    <arg name="name" value="$(arg manager)" />
+	    <arg name="debug" value="$(arg debug)" />
+	    <arg name="machine" value="$(arg machine)" />
+	    <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
+	  </include>
 
     <!-- Load driver -->
     <include if="$(arg load_driver)"
 	     file="$(find openni2_launch)/launch/includes/device.launch.xml">
-      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="manager"               value="$(arg manager)" />
       <arg name="device_id"             value="$(arg device_id)" />
       <arg name="rgb_frame_id"          value="$(arg rgb_frame_id)" />
       <arg name="depth_frame_id"        value="$(arg depth_frame_id)" />
@@ -79,7 +79,7 @@
 
     <!-- Load standard constellation of processing nodelets -->
     <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
-      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="manager"               value="$(arg manager)" />
       <arg name="rgb"                   value="$(arg rgb)" />
       <arg name="ir"                    value="$(arg ir)" />
       <arg name="depth"                 value="$(arg depth)" />

From e31bbecec2ce78ed54c69726cfa5be47d6ed466d Mon Sep 17 00:00:00 2001
From: Marcus Liebhardt <ich@marcusliebhardt.de>
Date: Mon, 23 Sep 2013 12:00:49 +0900
Subject: [PATCH 14/38] enables parameter for hardware depth registration

---
 launch/openni2.launch | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index 4f9d713..c63a0cd 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -18,6 +18,9 @@
   <arg name="rgb_camera_info_url"   default="" />
   <arg name="depth_camera_info_url" default="" />
 
+  <!-- Hardware depth registration -->
+  <arg name="depth_registration" default="false" />
+
   <!-- Arguments for remapping all device namespaces -->
   <arg name="rgb"              default="rgb" />
   <arg name="ir"               default="ir" />
@@ -75,15 +78,16 @@
       <arg name="ir"                    value="$(arg ir)" />
       <arg name="depth"                 value="$(arg depth)" />
       <arg name="respawn"               value="$(arg respawn)" />
+      <arg name="depth_registration"    value="$(arg depth_registration)" />
     </include>
 
     <!-- Load standard constellation of processing nodelets -->
     <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
-      <arg name="manager"               value="$(arg manager)" />
-      <arg name="rgb"                   value="$(arg rgb)" />
-      <arg name="ir"                    value="$(arg ir)" />
-      <arg name="depth"                 value="$(arg depth)" />
-      <arg name="respawn"               value="$(arg respawn)" />
+      <arg name="manager"                         value="$(arg manager)" />
+      <arg name="rgb"                             value="$(arg rgb)" />
+      <arg name="ir"                              value="$(arg ir)" />
+      <arg name="depth"                           value="$(arg depth)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
       <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
       <arg name="debayer_processing"              value="$(arg debayer_processing)" />
       <arg name="ir_processing"                   value="$(arg ir_processing)" />

From b0b585165e1eb3c57efbbc9a624058c1af2ba0f5 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Wed, 25 Sep 2013 11:29:25 -0700
Subject: [PATCH 15/38] add changelog

---
 CHANGELOG.rst | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 CHANGELOG.rst

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
new file mode 100644
index 0000000..ecfd7e1
--- /dev/null
+++ b/CHANGELOG.rst
@@ -0,0 +1,12 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package openni2_launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+* Properly namespace the nodelet manager
+
+0.1.0 (2013-09-10)
+------------------
+* First release
+* This package is a thin wrapper around rgbd_launch

From 9a5e44aac662cc3df0c7e44dc9533dbe86fe5057 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Wed, 25 Sep 2013 11:29:54 -0700
Subject: [PATCH 16/38] 0.1.1

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index ecfd7e1..4b86a13 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.1.1 (2013-09-25)
+------------------
 * Properly namespace the nodelet manager
 
 0.1.0 (2013-09-10)
diff --git a/package.xml b/package.xml
index cd8230a..f7aa91b 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openni2_launch</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>

From a0dd94c3b09ba88b3b0aa242d9d647820c63e9ee Mon Sep 17 00:00:00 2001
From: Libor Wagner <wagnelib@cmp.felk.cvut.cz>
Date: Mon, 30 Sep 2013 15:03:41 +0200
Subject: [PATCH 17/38] Exposing driver parameters

---
 launch/openni2.launch | 30 +++++++++++++++++++-----------
 1 file changed, 19 insertions(+), 11 deletions(-)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index c63a0cd..b02fbf3 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -21,6 +21,11 @@
   <!-- Hardware depth registration -->
   <arg name="depth_registration" default="false" />
 
+  <!-- Driver parameters -->
+  <arg name="color_depth_synchronization"     default="false" />
+  <arg name="auto_exposure"                   default="true" />
+  <arg name="auto_white_balance"              default="true" />
+
   <!-- Arguments for remapping all device namespaces -->
   <arg name="rgb"              default="rgb" />
   <arg name="ir"               default="ir" />
@@ -68,17 +73,20 @@
     <!-- Load driver -->
     <include if="$(arg load_driver)"
 	     file="$(find openni2_launch)/launch/includes/device.launch.xml">
-      <arg name="manager"               value="$(arg manager)" />
-      <arg name="device_id"             value="$(arg device_id)" />
-      <arg name="rgb_frame_id"          value="$(arg rgb_frame_id)" />
-      <arg name="depth_frame_id"        value="$(arg depth_frame_id)" />
-      <arg name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
-      <arg name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
-      <arg name="rgb"                   value="$(arg rgb)" />
-      <arg name="ir"                    value="$(arg ir)" />
-      <arg name="depth"                 value="$(arg depth)" />
-      <arg name="respawn"               value="$(arg respawn)" />
-      <arg name="depth_registration"    value="$(arg depth_registration)" />
+      <arg name="manager"                         value="$(arg manager)" />
+      <arg name="device_id"                       value="$(arg device_id)" />
+      <arg name="rgb_frame_id"                    value="$(arg rgb_frame_id)" />
+      <arg name="depth_frame_id"                  value="$(arg depth_frame_id)" />
+      <arg name="rgb_camera_info_url"             value="$(arg rgb_camera_info_url)" />
+      <arg name="depth_camera_info_url"           value="$(arg depth_camera_info_url)" />
+      <arg name="rgb"                             value="$(arg rgb)" />
+      <arg name="ir"                              value="$(arg ir)" />
+      <arg name="depth"                           value="$(arg depth)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="depth_registration"              value="$(arg depth_registration)" />
+      <arg name="color_depth_synchronization"     value="$(arg color_depth_synchronization)" />
+      <arg name="auto_exposure"                   value="$(arg auto_exposure)" />
+      <arg name="auto_white_balance"              value="$(arg auto_white_balance)" />
     </include>
 
     <!-- Load standard constellation of processing nodelets -->

From 2b7b3f5315db1950fbee9d3a94f1e55152f406a0 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Mon, 30 Sep 2013 11:29:04 -0700
Subject: [PATCH 18/38] update changelog

---
 CHANGELOG.rst | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 4b86a13..7e3565f 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Expose driver parameters. Note: depth_registration is now off by default.
+
 0.1.1 (2013-09-25)
 ------------------
 * Properly namespace the nodelet manager

From 51711ed08ae01882232e28bc9ee29d70542eec21 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Mon, 30 Sep 2013 11:29:33 -0700
Subject: [PATCH 19/38] 0.1.2

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 7e3565f..65d0287 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.1.2 (2013-09-30)
+------------------
 * Expose driver parameters. Note: depth_registration is now off by default.
 
 0.1.1 (2013-09-25)
diff --git a/package.xml b/package.xml
index f7aa91b..d501420 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openni2_launch</name>
-  <version>0.1.1</version>
+  <version>0.1.2</version>
   <description>
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>

From c09b83a83b53dad23103ba5f55f2222f8bd215b0 Mon Sep 17 00:00:00 2001
From: Libor Wagner <wagnelib@cmp.felk.cvut.cz>
Date: Tue, 1 Oct 2013 11:03:09 +0200
Subject: [PATCH 20/38] Fix issue #9

This way the defaults for depth processing are set apropriately for both
hardware and software registration.
---
 launch/openni2.launch | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index b02fbf3..f306669 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -48,8 +48,10 @@
   <arg name="depth_registered_processing"     default="true" />
   <arg name="disparity_processing"            default="false" />
   <arg name="disparity_registered_processing" default="false" />
-  <arg name="hw_registered_processing"        default="true" />
-  <arg name="sw_registered_processing"        default="false" />
+  <arg name="hw_registered_processing"        default="true" if="$(arg depth_registration)" />
+  <arg name="sw_registered_processing"        default="false" if="$(arg depth_registration)" />
+  <arg name="hw_registered_processing"        default="false" unless="$(arg depth_registration)" />
+  <arg name="sw_registered_processing"        default="true" unless="$(arg depth_registration)" />
 
   <!-- Disable bond topics by default -->
   <arg name="respawn" default="false" />

From a4eb3fb8316b724badeade6d349c7692fa40d6df Mon Sep 17 00:00:00 2001
From: Mark Pitchless <markpitchless@gmail.com>
Date: Wed, 30 Apr 2014 16:51:15 +0100
Subject: [PATCH 21/38] Add tf_prefix same as openni

---
 launch/openni2.launch | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index f306669..1ec3866 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -4,8 +4,9 @@
   <!-- "camera" should uniquely identify the device. All topics are pushed down
        into the "camera" namespace, and it is prepended to tf frame ids. -->
   <arg name="camera" default="camera" />
-  <arg name="rgb_frame_id"   default="$(arg camera)_rgb_optical_frame" />
-  <arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />
+  <arg name="tf_prefix" default="" />
+  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
 
   <!-- device_id can have the following formats:
          "#1"  : the first device found
@@ -115,6 +116,7 @@
   <include if="$(arg publish_tf)"
 	   file="$(find rgbd_launch)/launch/kinect_frames.launch">
     <arg name="camera" value="$(arg camera)" />
+    <arg name="tf_prefix" value="$(arg tf_prefix)" />
   </include>
 
 </launch>

From 661e2940463c9fe16beb642837ad5d07d4243a2e Mon Sep 17 00:00:00 2001
From: Piyush Khandelwal <piyushk@gmail.com>
Date: Tue, 6 May 2014 14:57:12 -0500
Subject: [PATCH 22/38] Remove machine arg, as it is not necessary. Closes #17

---
 launch/openni2.launch | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index 1ec3866..9c40040 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -32,10 +32,6 @@
   <arg name="ir"               default="ir" />
   <arg name="depth"            default="depth" />
 
-  <!-- Machine -->
-  <machine name="localhost" address="localhost" env-loader="/opt/ros/hydro/env.sh"/>
-  <arg name="machine"          default="localhost" />
-
   <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
        tree. Useful if you are playing back recorded raw data from a bag, or are
        supplying a more accurate tf tree from calibration. -->
@@ -69,7 +65,6 @@
 	  <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
 	    <arg name="name" value="$(arg manager)" />
 	    <arg name="debug" value="$(arg debug)" />
-	    <arg name="machine" value="$(arg machine)" />
 	    <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
 	  </include>
 

From 664804f93dfc831091c16da916e30459ceb3e488 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Tue, 20 May 2014 20:20:59 -0700
Subject: [PATCH 23/38] update changelog

---
 CHANGELOG.rst | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 65d0287..3cb18b0 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Remove machine arg, as it is not necessary.
+* Add tf_prefix same as openni
+* Defaults for depth processing are set apropriately for both hardware and software registration.
+* Contributors: Libor Wagner, Mark Pitchless, Michael Ferguson, Piyush Khandelwal
+
 0.1.2 (2013-09-30)
 ------------------
 * Expose driver parameters. Note: depth_registration is now off by default.

From cf6b7ae2bfcde807bd7507a57bec797ab573860d Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Tue, 20 May 2014 20:21:40 -0700
Subject: [PATCH 24/38] 0.2.0

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 3cb18b0..a54b403 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.2.0 (2014-05-20)
+------------------
 * Remove machine arg, as it is not necessary.
 * Add tf_prefix same as openni
 * Defaults for depth processing are set apropriately for both hardware and software registration.
diff --git a/package.xml b/package.xml
index d501420..3a61f3f 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openni2_launch</name>
-  <version>0.1.2</version>
+  <version>0.2.0</version>
   <description>
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>

From 6bfb90413d2760ea503dc3de12425b6d058a5ba2 Mon Sep 17 00:00:00 2001
From: Dariush Forouher <forouher@iti.uni-luebeck.de>
Date: Wed, 21 May 2014 11:33:15 +0200
Subject: [PATCH 25/38] Force device_id to string type

device_id might look like an integer. in that case, getParam()
doesn't want to parse the param as a string for some reason (not
sure if this is by design).

This patch works around that issue.
---
 launch/includes/device.launch.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/includes/device.launch.xml b/launch/includes/device.launch.xml
index dddf731..aa38684 100644
--- a/launch/includes/device.launch.xml
+++ b/launch/includes/device.launch.xml
@@ -28,7 +28,7 @@
   <node pkg="nodelet" type="nodelet" name="driver"
         args="load openni2_camera/OpenNI2DriverNodelet $(arg manager)"
 	    respawn="$(arg respawn)">
-    <param name="device_id" value="$(arg device_id)" />
+    <param name="device_id" type="str" value="$(arg device_id)" />
     <param name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
     <param name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
     <param name="rgb_frame_id"   value="$(arg rgb_frame_id)" />

From f6cec2b99773f22e0476ab3a868cc2ca001483df Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Thu, 22 May 2014 13:02:06 -0700
Subject: [PATCH 26/38] update changelog

---
 CHANGELOG.rst | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index a54b403..a5713c8 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Force device_id to string type
+* Contributors: Dariush Forouher, Michael Ferguson
+
 0.2.0 (2014-05-20)
 ------------------
 * Remove machine arg, as it is not necessary.

From a0048053f68507459e354765f9160658058ccb29 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <fergs@unboundedrobotics.com>
Date: Thu, 22 May 2014 13:02:17 -0700
Subject: [PATCH 27/38] 0.2.1

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index a5713c8..0d22dd7 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.2.1 (2014-05-22)
+------------------
 * Force device_id to string type
 * Contributors: Dariush Forouher, Michael Ferguson
 
diff --git a/package.xml b/package.xml
index 3a61f3f..c6efc1a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openni2_launch</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>

From e9e8e72fd14223a7725989e76dcd03bad8f3a8ac Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Sun, 18 Jan 2015 21:03:24 -0800
Subject: [PATCH 28/38] fix #19, reverts #16

---
 launch/openni2.launch | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/launch/openni2.launch b/launch/openni2.launch
index 9c40040..b9c1bac 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -4,9 +4,8 @@
   <!-- "camera" should uniquely identify the device. All topics are pushed down
        into the "camera" namespace, and it is prepended to tf frame ids. -->
   <arg name="camera" default="camera" />
-  <arg name="tf_prefix" default="" />
-  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
-  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
+  <arg name="rgb_frame_id"   default="$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg camera)_depth_optical_frame" />
 
   <!-- device_id can have the following formats:
          "#1"  : the first device found
@@ -111,7 +110,6 @@
   <include if="$(arg publish_tf)"
 	   file="$(find rgbd_launch)/launch/kinect_frames.launch">
     <arg name="camera" value="$(arg camera)" />
-    <arg name="tf_prefix" value="$(arg tf_prefix)" />
   </include>
 
 </launch>

From 1ed40d4f7c84492e1c6986cb7a5e6ddcf71bd2c9 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Sun, 18 Jan 2015 21:03:41 -0800
Subject: [PATCH 29/38] add tf_prefix version, as per #16

---
 launch/openni2_tf_prefix.launch | 117 ++++++++++++++++++++++++++++++++
 1 file changed, 117 insertions(+)
 create mode 100644 launch/openni2_tf_prefix.launch

diff --git a/launch/openni2_tf_prefix.launch b/launch/openni2_tf_prefix.launch
new file mode 100644
index 0000000..357ae60
--- /dev/null
+++ b/launch/openni2_tf_prefix.launch
@@ -0,0 +1,117 @@
+<!-- Entry point for using OpenNI2 devices (if you still use tf_prefix) -->
+<launch>
+
+  <!-- "camera" should uniquely identify the device. All topics are pushed down
+       into the "camera" namespace, and it is prepended to tf frame ids. -->
+  <arg name="camera" default="camera" />
+  <arg name="tf_prefix" default="" />
+  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
+
+  <!-- device_id can have the following formats:
+         "#1"  : the first device found
+         "2@X" : the Xth device on USB bus 2 -->
+  <arg name="device_id" default="#1" />
+
+  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
+       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
+       See camera_info_manager docs for calibration URL details. -->
+  <arg name="rgb_camera_info_url"   default="" />
+  <arg name="depth_camera_info_url" default="" />
+
+  <!-- Hardware depth registration -->
+  <arg name="depth_registration" default="false" />
+
+  <!-- Driver parameters -->
+  <arg name="color_depth_synchronization"     default="false" />
+  <arg name="auto_exposure"                   default="true" />
+  <arg name="auto_white_balance"              default="true" />
+
+  <!-- Arguments for remapping all device namespaces -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
+       tree. Useful if you are playing back recorded raw data from a bag, or are
+       supplying a more accurate tf tree from calibration. -->
+  <arg name="load_driver" default="true" />
+  <arg name="publish_tf" default="true" />
+  <!-- Processing Modules -->
+  <arg name="rgb_processing"                  default="true"  />
+  <arg name="debayer_processing"              default="false" />
+  <arg name="ir_processing"                   default="false" />
+  <arg name="depth_processing"                default="true" />
+  <arg name="depth_registered_processing"     default="true" />
+  <arg name="disparity_processing"            default="false" />
+  <arg name="disparity_registered_processing" default="false" />
+  <arg name="hw_registered_processing"        default="true" if="$(arg depth_registration)" />
+  <arg name="sw_registered_processing"        default="false" if="$(arg depth_registration)" />
+  <arg name="hw_registered_processing"        default="false" unless="$(arg depth_registration)" />
+  <arg name="sw_registered_processing"        default="true" unless="$(arg depth_registration)" />
+
+  <!-- Disable bond topics by default -->
+  <arg name="respawn" default="false" />
+
+  <!-- Worker threads for the nodelet manager -->
+  <arg name="num_worker_threads" default="4" />
+
+  <!-- Push down all topics/nodelets into "camera" namespace -->
+  <group ns="$(arg camera)">
+  
+	  <!-- Start nodelet manager -->
+	  <arg name="manager" value="$(arg camera)_nodelet_manager" />
+	  <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
+	  <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
+	    <arg name="name" value="$(arg manager)" />
+	    <arg name="debug" value="$(arg debug)" />
+	    <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
+	  </include>
+
+    <!-- Load driver -->
+    <include if="$(arg load_driver)"
+	     file="$(find openni2_launch)/launch/includes/device.launch.xml">
+      <arg name="manager"                         value="$(arg manager)" />
+      <arg name="device_id"                       value="$(arg device_id)" />
+      <arg name="rgb_frame_id"                    value="$(arg rgb_frame_id)" />
+      <arg name="depth_frame_id"                  value="$(arg depth_frame_id)" />
+      <arg name="rgb_camera_info_url"             value="$(arg rgb_camera_info_url)" />
+      <arg name="depth_camera_info_url"           value="$(arg depth_camera_info_url)" />
+      <arg name="rgb"                             value="$(arg rgb)" />
+      <arg name="ir"                              value="$(arg ir)" />
+      <arg name="depth"                           value="$(arg depth)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="depth_registration"              value="$(arg depth_registration)" />
+      <arg name="color_depth_synchronization"     value="$(arg color_depth_synchronization)" />
+      <arg name="auto_exposure"                   value="$(arg auto_exposure)" />
+      <arg name="auto_white_balance"              value="$(arg auto_white_balance)" />
+    </include>
+
+    <!-- Load standard constellation of processing nodelets -->
+    <include file="$(find rgbd_launch)/launch/includes/processing.launch.xml">
+      <arg name="manager"                         value="$(arg manager)" />
+      <arg name="rgb"                             value="$(arg rgb)" />
+      <arg name="ir"                              value="$(arg ir)" />
+      <arg name="depth"                           value="$(arg depth)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
+      <arg name="debayer_processing"              value="$(arg debayer_processing)" />
+      <arg name="ir_processing"                   value="$(arg ir_processing)" />
+      <arg name="depth_processing"                value="$(arg depth_processing)" />
+      <arg name="depth_registered_processing"     value="$(arg depth_registered_processing)" />
+      <arg name="disparity_processing"            value="$(arg disparity_processing)" />
+      <arg name="disparity_registered_processing" value="$(arg disparity_registered_processing)" />
+      <arg name="hw_registered_processing"        value="$(arg hw_registered_processing)" />
+      <arg name="sw_registered_processing"        value="$(arg sw_registered_processing)" />
+    </include>
+
+  </group> <!-- camera -->
+
+  <!-- Load reasonable defaults for the relative pose between cameras -->
+  <include if="$(arg publish_tf)"
+	   file="$(find rgbd_launch)/launch/kinect_frames.launch">
+    <arg name="camera" value="$(arg camera)" />
+    <arg name="tf_prefix" value="$(arg tf_prefix)" />
+  </include>
+
+</launch>

From 6f205a10fba04d5edbd34dd0ef11dede246f655b Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Fri, 23 Jan 2015 20:33:34 -0800
Subject: [PATCH 30/38] update changelog

---
 CHANGELOG.rst | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 0d22dd7..cc4176f 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* add tf_prefix version, as per `#16 <https://github.com/ros-drivers/openni2_launch/issues/16>`_
+* fix `#19 <https://github.com/ros-drivers/openni2_launch/issues/19>`_, reverts `#16 <https://github.com/ros-drivers/openni2_launch/issues/16>`_
+* Contributors: Michael Ferguson
+
 0.2.1 (2014-05-22)
 ------------------
 * Force device_id to string type

From d3f4912d1153d6e98a08d72e586fa159578b0c91 Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Fri, 23 Jan 2015 20:33:42 -0800
Subject: [PATCH 31/38] 0.2.2

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index cc4176f..b47907f 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.2.2 (2015-01-23)
+------------------
 * add tf_prefix version, as per `#16 <https://github.com/ros-drivers/openni2_launch/issues/16>`_
 * fix `#19 <https://github.com/ros-drivers/openni2_launch/issues/19>`_, reverts `#16 <https://github.com/ros-drivers/openni2_launch/issues/16>`_
 * Contributors: Michael Ferguson
diff --git a/package.xml b/package.xml
index c6efc1a..3f4f1fe 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openni2_launch</name>
-  <version>0.2.1</version>
+  <version>0.2.2</version>
   <description>
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>

From 5bae6a0293041c7859ab1a1b9e70b8aa686ffe19 Mon Sep 17 00:00:00 2001
From: Ryosuke Tajima <ryosuke.tajima@gmail.com>
Date: Mon, 4 Apr 2016 18:01:55 +0900
Subject: [PATCH 32/38] add '(ir|color|depth)_mode' arguments to change the
 resolution/FPS of each channel

---
 launch/includes/device.launch.xml | 7 +++++++
 launch/openni2.launch             | 8 ++++++++
 2 files changed, 15 insertions(+)

diff --git a/launch/includes/device.launch.xml b/launch/includes/device.launch.xml
index aa38684..916f43a 100644
--- a/launch/includes/device.launch.xml
+++ b/launch/includes/device.launch.xml
@@ -11,6 +11,9 @@
   <arg name="rgb_camera_info_url" />
   <arg name="depth_camera_info_url" />
 
+  <arg name="ir_mode" default="5" />
+  <arg name="color_mode" default="5" />
+  <arg name="depth_mode" default="5" />
   <arg name="depth_registration" default="true" />
   <arg name="color_depth_synchronization" default="false" />
   <arg name="auto_exposure" default="true" />
@@ -34,6 +37,10 @@
     <param name="rgb_frame_id"   value="$(arg rgb_frame_id)" />
     <param name="depth_frame_id" value="$(arg depth_frame_id)" />
 
+    <param name="ir_mode" value="$(arg ir_mode)" />
+    <param name="color_mode" value="$(arg color_mode)" />
+    <param name="depth_mode" value="$(arg depth_mode)" />
+
     <param name="depth_registration" value="$(arg depth_registration)" />
     <param name="color_depth_synchronization" value="$(arg color_depth_synchronization)" />
     <param name="auto_exposure" value="$(arg auto_exposure)" />
diff --git a/launch/openni2.launch b/launch/openni2.launch
index b9c1bac..11fc2d8 100644
--- a/launch/openni2.launch
+++ b/launch/openni2.launch
@@ -18,6 +18,11 @@
   <arg name="rgb_camera_info_url"   default="" />
   <arg name="depth_camera_info_url" default="" />
 
+  <!-- Resolution and FPS setting for each channel -->
+  <arg name="ir_mode"    default="5" />
+  <arg name="color_mode" default="5" />
+  <arg name="depth_mode" default="5" />
+
   <!-- Hardware depth registration -->
   <arg name="depth_registration" default="false" />
 
@@ -80,6 +85,9 @@
       <arg name="ir"                              value="$(arg ir)" />
       <arg name="depth"                           value="$(arg depth)" />
       <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="ir_mode"                         value="$(arg ir_mode)" />
+      <arg name="color_mode"                      value="$(arg color_mode)" />
+      <arg name="depth_mode"                      value="$(arg depth_mode)" />
       <arg name="depth_registration"              value="$(arg depth_registration)" />
       <arg name="color_depth_synchronization"     value="$(arg color_depth_synchronization)" />
       <arg name="auto_exposure"                   value="$(arg auto_exposure)" />

From 7f9e5d5dc9a39ad62567d7f0b5b33cbe66a506c0 Mon Sep 17 00:00:00 2001
From: Johannes Meyer <johannes@intermodalics.eu>
Date: Wed, 17 Aug 2016 15:30:30 +0200
Subject: [PATCH 33/38] openni2_launch: disable bonding if respawn argument is
 false

---
 launch/includes/device.launch.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/launch/includes/device.launch.xml b/launch/includes/device.launch.xml
index 916f43a..1e9b581 100644
--- a/launch/includes/device.launch.xml
+++ b/launch/includes/device.launch.xml
@@ -20,6 +20,8 @@
   <arg name="auto_white_balance" default="true" />
 
   <arg name="respawn" default="false" />
+  <arg     if="$(arg respawn)" name="bond" value="" />
+  <arg unless="$(arg respawn)" name="bond" value="--no-bond" />
 
   <!-- Remapping arguments -->
   <arg name="rgb"              default="rgb" />
@@ -29,7 +31,7 @@
 
   <!-- Driver nodelet -->
   <node pkg="nodelet" type="nodelet" name="driver"
-        args="load openni2_camera/OpenNI2DriverNodelet $(arg manager)"
+        args="load openni2_camera/OpenNI2DriverNodelet $(arg manager) $(arg bond)"
 	    respawn="$(arg respawn)">
     <param name="device_id" type="str" value="$(arg device_id)" />
     <param name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />

From 4ca5440c65cad0f1a809934695770d0337b2fcee Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Wed, 23 Aug 2017 12:13:15 -0700
Subject: [PATCH 34/38] Add a maintainer

---
 package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/package.xml b/package.xml
index 3f4f1fe..405a879 100644
--- a/package.xml
+++ b/package.xml
@@ -5,6 +5,7 @@
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>
   <maintainer email="developers@unboundedrobotics.com">Michael Ferguson</maintainer>
+  <maintainer email="gm130s@gmail.com">Isaac I. Y. Saito</maintainer>
   <license>BSD</license>
 
   <author email="kammerl@willowgarage.com">Julius Kammerl</author>

From e1d46726162fdb03d2f59c3e702c7328ea953a51 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Wed, 18 May 2016 11:24:40 -0700
Subject: [PATCH 35/38] Add CI config (Travis CI using industrial_ci). - All
 Jade jobs are allow-failure since it's (close to) EOLed. - All pre-release
 jobs are allow-failure since they are not always necessary (although almost
 always helpful).

---
 .travis.yml | 28 ----------------------------
 1 file changed, 28 deletions(-)
 delete mode 100644 .travis.yml

diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 8f67264..0000000
--- a/.travis.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
-# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
-sudo: required 
-dist: trusty 
-language: generic 
-compiler:
-  - gcc
-notifications:
-  email:
-    on_success: always
-    on_failure: always
-#    recipients:
-#      - jane@doe
-env:
-  matrix:
-    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-    - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-matrix:
-  allow_failures:
-    - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-script: 
-  - source .ci_config/travis.sh
-#  - source ./travis.sh  # Enable this when you have a package-local script 

From b10ca3c304180db0d114acc48d1a7ed585c3487e Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Mon, 9 Oct 2017 01:42:13 -0700
Subject: [PATCH 36/38] 0.2.3

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index 405a879..8f9e0f4 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>openni2_launch</name>
-  <version>0.2.2</version>
+  <version>0.2.3</version>
   <description>
     Launch files to start the openni2_camera drivers using rgbd_launch.
   </description>

From 536bb2819c7a4b06ff53e2c07eff0c0f7b68089c Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Mon, 9 Oct 2017 02:07:07 -0700
Subject: [PATCH 37/38] openni2_launch package as a subfolder.

---
 CHANGELOG.rst => openni2_launch/CHANGELOG.rst                 | 3 +++
 CMakeLists.txt => openni2_launch/CMakeLists.txt               | 0
 {launch => openni2_launch/launch}/includes/color.launch       | 0
 {launch => openni2_launch/launch}/includes/depth.launch       | 0
 {launch => openni2_launch/launch}/includes/device.launch      | 0
 {launch => openni2_launch/launch}/includes/device.launch.xml  | 0
 {launch => openni2_launch/launch}/includes/ir.launch          | 0
 {launch => openni2_launch/launch}/includes/manager.launch     | 0
 {launch => openni2_launch/launch}/includes/pointclouds.launch | 0
 {launch => openni2_launch/launch}/includes/processing.launch  | 0
 {launch => openni2_launch/launch}/kinect_frames.launch        | 0
 {launch => openni2_launch/launch}/openni2.launch              | 0
 {launch => openni2_launch/launch}/openni2_tf_prefix.launch    | 0
 package.xml => openni2_launch/package.xml                     | 0
 14 files changed, 3 insertions(+)
 rename CHANGELOG.rst => openni2_launch/CHANGELOG.rst (97%)
 rename CMakeLists.txt => openni2_launch/CMakeLists.txt (100%)
 rename {launch => openni2_launch/launch}/includes/color.launch (100%)
 rename {launch => openni2_launch/launch}/includes/depth.launch (100%)
 rename {launch => openni2_launch/launch}/includes/device.launch (100%)
 rename {launch => openni2_launch/launch}/includes/device.launch.xml (100%)
 rename {launch => openni2_launch/launch}/includes/ir.launch (100%)
 rename {launch => openni2_launch/launch}/includes/manager.launch (100%)
 rename {launch => openni2_launch/launch}/includes/pointclouds.launch (100%)
 rename {launch => openni2_launch/launch}/includes/processing.launch (100%)
 rename {launch => openni2_launch/launch}/kinect_frames.launch (100%)
 rename {launch => openni2_launch/launch}/openni2.launch (100%)
 rename {launch => openni2_launch/launch}/openni2_tf_prefix.launch (100%)
 rename package.xml => openni2_launch/package.xml (100%)

diff --git a/CHANGELOG.rst b/openni2_launch/CHANGELOG.rst
similarity index 97%
rename from CHANGELOG.rst
rename to openni2_launch/CHANGELOG.rst
index b47907f..68ee73f 100644
--- a/CHANGELOG.rst
+++ b/openni2_launch/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package openni2_launch
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+
 0.2.2 (2015-01-23)
 ------------------
 * add tf_prefix version, as per `#16 <https://github.com/ros-drivers/openni2_launch/issues/16>`_
diff --git a/CMakeLists.txt b/openni2_launch/CMakeLists.txt
similarity index 100%
rename from CMakeLists.txt
rename to openni2_launch/CMakeLists.txt
diff --git a/launch/includes/color.launch b/openni2_launch/launch/includes/color.launch
similarity index 100%
rename from launch/includes/color.launch
rename to openni2_launch/launch/includes/color.launch
diff --git a/launch/includes/depth.launch b/openni2_launch/launch/includes/depth.launch
similarity index 100%
rename from launch/includes/depth.launch
rename to openni2_launch/launch/includes/depth.launch
diff --git a/launch/includes/device.launch b/openni2_launch/launch/includes/device.launch
similarity index 100%
rename from launch/includes/device.launch
rename to openni2_launch/launch/includes/device.launch
diff --git a/launch/includes/device.launch.xml b/openni2_launch/launch/includes/device.launch.xml
similarity index 100%
rename from launch/includes/device.launch.xml
rename to openni2_launch/launch/includes/device.launch.xml
diff --git a/launch/includes/ir.launch b/openni2_launch/launch/includes/ir.launch
similarity index 100%
rename from launch/includes/ir.launch
rename to openni2_launch/launch/includes/ir.launch
diff --git a/launch/includes/manager.launch b/openni2_launch/launch/includes/manager.launch
similarity index 100%
rename from launch/includes/manager.launch
rename to openni2_launch/launch/includes/manager.launch
diff --git a/launch/includes/pointclouds.launch b/openni2_launch/launch/includes/pointclouds.launch
similarity index 100%
rename from launch/includes/pointclouds.launch
rename to openni2_launch/launch/includes/pointclouds.launch
diff --git a/launch/includes/processing.launch b/openni2_launch/launch/includes/processing.launch
similarity index 100%
rename from launch/includes/processing.launch
rename to openni2_launch/launch/includes/processing.launch
diff --git a/launch/kinect_frames.launch b/openni2_launch/launch/kinect_frames.launch
similarity index 100%
rename from launch/kinect_frames.launch
rename to openni2_launch/launch/kinect_frames.launch
diff --git a/launch/openni2.launch b/openni2_launch/launch/openni2.launch
similarity index 100%
rename from launch/openni2.launch
rename to openni2_launch/launch/openni2.launch
diff --git a/launch/openni2_tf_prefix.launch b/openni2_launch/launch/openni2_tf_prefix.launch
similarity index 100%
rename from launch/openni2_tf_prefix.launch
rename to openni2_launch/launch/openni2_tf_prefix.launch
diff --git a/package.xml b/openni2_launch/package.xml
similarity index 100%
rename from package.xml
rename to openni2_launch/package.xml

From 878398afeef5f9c17966f2e4802af3e4515cac14 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Mon, 9 Oct 2017 02:13:25 -0700
Subject: [PATCH 38/38] [CI] Update with ROS IJKL distros.

---
 .travis.yml | 43 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 43 insertions(+)
 create mode 100644 .travis.yml

diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 0000000..ab1c5cd
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,43 @@
+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+sudo: required 
+dist: trusty 
+services:
+  - docker
+language: generic 
+compiler:
+  - gcc
+notifications:
+  email:
+    on_success: always
+    on_failure: always
+    recipients:
+      - gm130s@gmail.com
+env:
+  matrix:
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="indigo" PRERELEASE=true
+    - ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="jade"   PRERELEASE=true
+    - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="kinetic"   PRERELEASE=true
+    - ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="lunar"   PRERELEASE=true
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="indigo"  PRERELEASE=true  # Run docker-based ROS prerelease test http://wiki.ros.org/bloom/Tutorials/PrereleaseTest Because we might not want to run prerelease test for all PRs, it's omitted from pass-fail criteria.
+    - env: ROS_DISTRO="indigo" PRERELEASE=true
+    - env: ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - env: ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - env: ROS_DISTRO="jade"   PRERELEASE=true
+    - env: ROS_DISTRO="kinetic"   PRERELEASE=true
+    - env: ROS_DISTRO="lunar"   PRERELEASE=true
+install:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+script:
+  - source .ci_config/travis.sh
+#  - source ./travis.sh  # Enable this when you have a package-local script