diff --git a/.travis.yml b/.travis.yml
index 02d251a..1961cf7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -18,9 +18,6 @@ env:
     - 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="indigo" PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=1
-    - 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  USE_DEB=true
-    - ROS_DISTRO="jade"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=1
     - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true
     - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu  USE_DEB=true
     - ROS_DISTRO="kinetic"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=1
@@ -31,7 +28,6 @@ matrix:
   allow_failures:
     # 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 PRERELEASE_DOWNSTREAM_DEPTH=1
-    - env: ROS_DISTRO="jade"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=1
     - env: ROS_DISTRO="kinetic"   PRERELEASE=true PRERELEASE_DOWNSTREAM_DEPTH=1
     # As of 20170415 ROS Lunar and many dependency aren't ready yet. Once this gets cleared we may want to remove some of the following entries.
     - env: ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true
diff --git a/CHANGELOG.rst b/openni_camera/CHANGELOG.rst
similarity index 100%
rename from CHANGELOG.rst
rename to openni_camera/CHANGELOG.rst
diff --git a/CMakeLists.txt b/openni_camera/CMakeLists.txt
similarity index 100%
rename from CMakeLists.txt
rename to openni_camera/CMakeLists.txt
diff --git a/cfg/OpenNI.cfg b/openni_camera/cfg/OpenNI.cfg
similarity index 100%
rename from cfg/OpenNI.cfg
rename to openni_camera/cfg/OpenNI.cfg
diff --git a/include/openni_camera/openni_depth_image.h b/openni_camera/include/openni_camera/openni_depth_image.h
similarity index 100%
rename from include/openni_camera/openni_depth_image.h
rename to openni_camera/include/openni_camera/openni_depth_image.h
diff --git a/include/openni_camera/openni_device.h b/openni_camera/include/openni_camera/openni_device.h
similarity index 100%
rename from include/openni_camera/openni_device.h
rename to openni_camera/include/openni_camera/openni_device.h
diff --git a/include/openni_camera/openni_device_kinect.h b/openni_camera/include/openni_camera/openni_device_kinect.h
similarity index 100%
rename from include/openni_camera/openni_device_kinect.h
rename to openni_camera/include/openni_camera/openni_device_kinect.h
diff --git a/include/openni_camera/openni_device_oni.h b/openni_camera/include/openni_camera/openni_device_oni.h
similarity index 100%
rename from include/openni_camera/openni_device_oni.h
rename to openni_camera/include/openni_camera/openni_device_oni.h
diff --git a/include/openni_camera/openni_device_primesense.h b/openni_camera/include/openni_camera/openni_device_primesense.h
similarity index 100%
rename from include/openni_camera/openni_device_primesense.h
rename to openni_camera/include/openni_camera/openni_device_primesense.h
diff --git a/include/openni_camera/openni_device_xtion.h b/openni_camera/include/openni_camera/openni_device_xtion.h
similarity index 100%
rename from include/openni_camera/openni_device_xtion.h
rename to openni_camera/include/openni_camera/openni_device_xtion.h
diff --git a/include/openni_camera/openni_driver.h b/openni_camera/include/openni_camera/openni_driver.h
similarity index 100%
rename from include/openni_camera/openni_driver.h
rename to openni_camera/include/openni_camera/openni_driver.h
diff --git a/include/openni_camera/openni_exception.h b/openni_camera/include/openni_camera/openni_exception.h
similarity index 100%
rename from include/openni_camera/openni_exception.h
rename to openni_camera/include/openni_camera/openni_exception.h
diff --git a/include/openni_camera/openni_image.h b/openni_camera/include/openni_camera/openni_image.h
similarity index 100%
rename from include/openni_camera/openni_image.h
rename to openni_camera/include/openni_camera/openni_image.h
diff --git a/include/openni_camera/openni_image_bayer_grbg.h b/openni_camera/include/openni_camera/openni_image_bayer_grbg.h
similarity index 100%
rename from include/openni_camera/openni_image_bayer_grbg.h
rename to openni_camera/include/openni_camera/openni_image_bayer_grbg.h
diff --git a/include/openni_camera/openni_image_rgb24.h b/openni_camera/include/openni_camera/openni_image_rgb24.h
similarity index 100%
rename from include/openni_camera/openni_image_rgb24.h
rename to openni_camera/include/openni_camera/openni_image_rgb24.h
diff --git a/include/openni_camera/openni_image_yuv_422.h b/openni_camera/include/openni_camera/openni_image_yuv_422.h
similarity index 100%
rename from include/openni_camera/openni_image_yuv_422.h
rename to openni_camera/include/openni_camera/openni_image_yuv_422.h
diff --git a/include/openni_camera/openni_ir_image.h b/openni_camera/include/openni_camera/openni_ir_image.h
similarity index 100%
rename from include/openni_camera/openni_ir_image.h
rename to openni_camera/include/openni_camera/openni_ir_image.h
diff --git a/openni_nodelets.xml b/openni_camera/openni_nodelets.xml
similarity index 100%
rename from openni_nodelets.xml
rename to openni_camera/openni_nodelets.xml
diff --git a/package.xml b/openni_camera/package.xml
similarity index 100%
rename from package.xml
rename to openni_camera/package.xml
diff --git a/src/nodelets/driver.cpp b/openni_camera/src/nodelets/driver.cpp
similarity index 100%
rename from src/nodelets/driver.cpp
rename to openni_camera/src/nodelets/driver.cpp
diff --git a/src/nodelets/driver.h b/openni_camera/src/nodelets/driver.h
similarity index 100%
rename from src/nodelets/driver.h
rename to openni_camera/src/nodelets/driver.h
diff --git a/src/nodes/openni_node.cpp b/openni_camera/src/nodes/openni_node.cpp
similarity index 100%
rename from src/nodes/openni_node.cpp
rename to openni_camera/src/nodes/openni_node.cpp
diff --git a/src/openni_depth_image.cpp b/openni_camera/src/openni_depth_image.cpp
similarity index 100%
rename from src/openni_depth_image.cpp
rename to openni_camera/src/openni_depth_image.cpp
diff --git a/src/openni_device.cpp b/openni_camera/src/openni_device.cpp
similarity index 100%
rename from src/openni_device.cpp
rename to openni_camera/src/openni_device.cpp
diff --git a/src/openni_device_kinect.cpp b/openni_camera/src/openni_device_kinect.cpp
similarity index 100%
rename from src/openni_device_kinect.cpp
rename to openni_camera/src/openni_device_kinect.cpp
diff --git a/src/openni_device_oni.cpp b/openni_camera/src/openni_device_oni.cpp
similarity index 100%
rename from src/openni_device_oni.cpp
rename to openni_camera/src/openni_device_oni.cpp
diff --git a/src/openni_device_primesense.cpp b/openni_camera/src/openni_device_primesense.cpp
similarity index 100%
rename from src/openni_device_primesense.cpp
rename to openni_camera/src/openni_device_primesense.cpp
diff --git a/src/openni_device_xtion.cpp b/openni_camera/src/openni_device_xtion.cpp
similarity index 100%
rename from src/openni_device_xtion.cpp
rename to openni_camera/src/openni_device_xtion.cpp
diff --git a/src/openni_driver.cpp b/openni_camera/src/openni_driver.cpp
similarity index 100%
rename from src/openni_driver.cpp
rename to openni_camera/src/openni_driver.cpp
diff --git a/src/openni_example.cpp b/openni_camera/src/openni_example.cpp
similarity index 100%
rename from src/openni_example.cpp
rename to openni_camera/src/openni_example.cpp
diff --git a/src/openni_exception.cpp b/openni_camera/src/openni_exception.cpp
similarity index 100%
rename from src/openni_exception.cpp
rename to openni_camera/src/openni_exception.cpp
diff --git a/src/openni_image_bayer_grbg.cpp b/openni_camera/src/openni_image_bayer_grbg.cpp
similarity index 100%
rename from src/openni_image_bayer_grbg.cpp
rename to openni_camera/src/openni_image_bayer_grbg.cpp
diff --git a/src/openni_image_rgb24.cpp b/openni_camera/src/openni_image_rgb24.cpp
similarity index 100%
rename from src/openni_image_rgb24.cpp
rename to openni_camera/src/openni_image_rgb24.cpp
diff --git a/src/openni_image_yuv_422.cpp b/openni_camera/src/openni_image_yuv_422.cpp
similarity index 100%
rename from src/openni_image_yuv_422.cpp
rename to openni_camera/src/openni_image_yuv_422.cpp
diff --git a/src/openni_ir_image.cpp b/openni_camera/src/openni_ir_image.cpp
similarity index 100%
rename from src/openni_ir_image.cpp
rename to openni_camera/src/openni_ir_image.cpp
diff --git a/test/test_file.py b/openni_camera/test/test_file.py
similarity index 100%
rename from test/test_file.py
rename to openni_camera/test/test_file.py
diff --git a/test/test_launch.py b/openni_camera/test/test_launch.py
similarity index 100%
rename from test/test_launch.py
rename to openni_camera/test/test_launch.py
diff --git a/test/test_subscription.py b/openni_camera/test/test_subscription.py
similarity index 100%
rename from test/test_subscription.py
rename to openni_camera/test/test_subscription.py
diff --git a/openni_launch/CHANGELOG.rst b/openni_launch/CHANGELOG.rst
new file mode 100644
index 0000000..7f24050
--- /dev/null
+++ b/openni_launch/CHANGELOG.rst
@@ -0,0 +1,88 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package openni_launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.9.8 (2016-05-07)
+------------------
+* [feat] adding depth_registered_filtered injection `#26 <https://github.com/ros-drivers/openni_launch/issues/26>`_
+* [sys][Travis CI] Update config to using industrial_ci with Prerelease Test. `#28 <https://github.com/ros-drivers/openni_launch/issues/28>`_
+* Contributors: Jonathan Bohren, Isaac I.Y. Saito
+
+1.9.7 (2015-11-15)
+------------------
+* 1st ROS Jade release
+* [sys] Add a simple travis config
+* Contributors: Isaac I.Y. Saito
+
+1.9.6 (2015-10-27)
+------------------
+* [feat] adjust frame ids to TF2
+* [fix] Removes the leading '/' from the TF frames in case tf_prefix is empty, which fixes this error:
+  [ WARN] [1432284298.914340788]: TF2 exception:
+  Invalid argument "/camera_rgb_optical_frame" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:  (/camera/camera_nodelet_manager)
+  Actually, tf_prefix is now ignored altogether.
+* Contributors: Jack O'Quin, Jonathan Binney, Martin Günther
+
+1.9.5 (2014-04-18)
+------------------
+* Test the ROS launch files, fix some errors (`#10
+  <https://github.com/ros-drivers/openni_launch/issues/10>`_).
+* Fix errors found by roslaunch unit test (`#10
+  <https://github.com/ros-drivers/openni_launch/issues/10>`_).
+* Add unit tests for launch file dependencies.
+* Contributors: Jack O'Quin, jonbinney
+
+1.9.4 (2013-08-25 18:04)
+------------------------
+* Fix missing run_depend.
+* Contributors: Marcus Liebhardt, jonbinney
+
+1.9.3 (2013-08-25 17:49)
+------------------------
+* Switch to rgbd_launch.
+* Added sw_registration and hw_registration flags.
+* Modified the top level file to use internal file names.
+* device.launch is now internal.
+* Added deprecation notice about rgb.launch.
+* Deprecation notices about the move of common launch files to rgbd_launch.
+* Added tf prefix resolution.
+* Contributors: Piyush Khandelwal, jonbinney
+
+1.9.2 (2013-08-01)
+------------------
+* Fix device registered point cloud generation.
+* Disabled unregistered depth and disparity processing when
+  depth_registration is set to true.
+* Fixing xyzrgb pointcloud generation when device registration is
+  enabled.
+* Contributors: Piyush Khandelwal, jonbinney
+
+1.9.1 (2013-07-29)
+------------------
+* Allow proper usage of namespaces for openni's nodes and nodelets.
+* Add arguments for switching on/off each processing module.
+* Removes (assumed) duplicated depth nodelets include thereby removing
+  service registration error.
+* Add topic remappings to sort the versious nodelets i/o (i.e. depth, rgb etc.).
+* Add option of utilising the worker threads parameter for the nodelet manager.
+* Moves nodelet_manager into camera namespace.
+* Contributors: Marcus Liebhardt, jonbinney
+
+1.9.0 (2013-06-27)
+------------------
+
+1.8.3 (2013-01-03)
+------------------
+* Catkinizing openni_launch.
+* Moved manager setup to manager.launch. Added options load_driver and
+  publish_tf for suppressing the driver and/or default tf tree, to
+  better support bag file playback and calibration.
+* Moved launching of all processing nodelets from device.launch to new
+  processing.launch for better reusability, for example bag file
+  playback.
+* Use 'respawn' arg instead of 'bond' (deprecated). Conforms to
+  image_proc and stereo_image_proc launch files, and now attempts to
+  respawn loaders when bonds are enabled. Removed rgb.launch, using
+  image_proc.launch instead.
+* Initial commit of openni_launch as unary stack.
+* Contributors: Jonathan Binney, Julius Kammerl, Michael Ferguson, Patrick Mihelich, jbinney
diff --git a/openni_launch/CMakeLists.txt b/openni_launch/CMakeLists.txt
new file mode 100644
index 0000000..78d8db4
--- /dev/null
+++ b/openni_launch/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(openni_launch)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+)
+
+# unit tests are enabled selectively
+if (CATKIN_ENABLE_TESTING)
+  # check that all launch file dependencies are declared correctly
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(launch)
+  roslaunch_add_file_check(launch/includes)
+endif ()
diff --git a/openni_launch/README.rst b/openni_launch/README.rst
new file mode 100644
index 0000000..40cf0f9
--- /dev/null
+++ b/openni_launch/README.rst
@@ -0,0 +1,14 @@
+Overview
+========
+
+The `openni_launch`_ package contains launch files for using
+OpenNI-compliant devices such as the Microsoft Kinect in ROS_.  It
+creates a nodelet graph to transform raw data from the device driver
+into point clouds, disparity images, and other products suitable for
+processing and visualization.
+
+See also: `rgbd_launch`_.
+
+.. _`openni_launch`: http://wiki.ros.org/openni_launch
+.. _`rgbd_launch`: http://wiki.ros.org/rgbd_launch
+.. _ROS: http://wiki.ros.org/
diff --git a/openni_launch/launch/includes/depth.launch b/openni_launch/launch/includes/depth.launch
new file mode 100644
index 0000000..0fc81bb
--- /dev/null
+++ b/openni_launch/launch/includes/depth.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- 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="openni_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/openni_launch/launch/includes/depth_registered.launch b/openni_launch/launch/includes/depth_registered.launch
new file mode 100644
index 0000000..a42b3fe
--- /dev/null
+++ b/openni_launch/launch/includes/depth_registered.launch
@@ -0,0 +1,28 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="allow_hardware_registration" default="" />
+  <arg name="allow_software_registration" default="" />
+  <arg name="depth" default="" />
+  <arg name="depth_registered" default="" />
+  <arg name="depth_registration" default="" />
+  <arg name="manager" default="" />
+  <arg name="points_xyzrgb" default="" />
+  <arg name="publish_metric_rect" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+  <arg name="suffix" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_registered_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="depth_registered.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/depth_registered.launch" />
+    <param name="to_pkg_path" value="launch/includes/depth_registered.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/device.launch b/openni_launch/launch/includes/device.launch
new file mode 100644
index 0000000..49b993b
--- /dev/null
+++ b/openni_launch/launch/includes/device.launch
@@ -0,0 +1,30 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="device_id" default="" />
+  <arg name="rgb_frame_id" default="" />
+  <arg name="depth_frame_id" default="" />
+  <arg name="rgb_camera_info_url" default="" />
+  <arg name="depth_camera_info_url" default="" />
+  <arg name="depth_registration" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+  <arg name="ir" default="" />
+  <arg name="depth" default="" />
+  <arg name="depth_registered" default="" />
+  <arg name="projector" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="device.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="openni_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/openni_launch/launch/includes/device.launch.xml b/openni_launch/launch/includes/device.launch.xml
new file mode 100644
index 0000000..3d082e8
--- /dev/null
+++ b/openni_launch/launch/includes/device.launch.xml
@@ -0,0 +1,44 @@
+<!-- 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" />
+
+  <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" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+  <arg name="depth_registered" default="depth_registered" />
+  <arg name="projector"        default="projector" />
+
+  <!-- Driver nodelet -->
+  <node pkg="nodelet" type="nodelet" name="driver" 
+        args="load openni_camera/driver $(arg manager) $(arg bond)"
+        respawn="$(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)" />
+
+    <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="projector" to="$(arg projector)" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/disparity.launch b/openni_launch/launch/includes/disparity.launch
new file mode 100644
index 0000000..a8ab066
--- /dev/null
+++ b/openni_launch/launch/includes/disparity.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="depth" default="" />
+  <arg name="projector" default="" />
+  <arg name="respawn" default="" />
+
+  <!-- deprecation notice -->
+  <node name="disparity_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="disparity.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/disparity.launch" />
+    <param name="to_pkg_path" value="launch/includes/disparity.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/ir.launch b/openni_launch/launch/includes/ir.launch
new file mode 100644
index 0000000..92417aa
--- /dev/null
+++ b/openni_launch/launch/includes/ir.launch
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="ir" default="" />
+
+  <!-- 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="openni_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/openni_launch/launch/includes/manager.launch b/openni_launch/launch/includes/manager.launch
new file mode 100644
index 0000000..9e103f6
--- /dev/null
+++ b/openni_launch/launch/includes/manager.launch
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="debug" default="" />
+  <arg name="num_worker_threads" 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="openni_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/openni_launch/launch/includes/processing.launch b/openni_launch/launch/includes/processing.launch
new file mode 100644
index 0000000..5d07b98
--- /dev/null
+++ b/openni_launch/launch/includes/processing.launch
@@ -0,0 +1,30 @@
+<launch>
+
+  <!-- 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="" />
+  <arg name="depth_registered" default="" />
+  <arg name="projector" default="" />
+  <arg name="rgb_processing" default="" />
+  <arg name="ir_processing" default="" />
+  <arg name="depth_processing" default="" />
+  <arg name="depth_registered_processing" default="" />
+  <arg name="disparity_processing" default="" />
+  <arg name="disparity_registered_processing" 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="openni_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/openni_launch/launch/includes/rgb.launch b/openni_launch/launch/includes/rgb.launch
new file mode 100644
index 0000000..f867934
--- /dev/null
+++ b/openni_launch/launch/includes/rgb.launch
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+
+  <!-- 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="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/rgb.launch" />
+    <param name="to_pkg_path" value="launch/includes/rgb.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/kinect_frames.launch b/openni_launch/launch/kinect_frames.launch
new file mode 100644
index 0000000..5e5d962
--- /dev/null
+++ b/openni_launch/launch/kinect_frames.launch
@@ -0,0 +1,19 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="camera" default="" />
+  <arg name="tf_prefix" default="" />
+
+  <!-- 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="openni_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>
+
+</launch>
diff --git a/openni_launch/launch/openni.launch b/openni_launch/launch/openni.launch
new file mode 100644
index 0000000..646c72a
--- /dev/null
+++ b/openni_launch/launch/openni.launch
@@ -0,0 +1,116 @@
+<!-- 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="$(arg camera)_depth_optical_frame" />
+
+  <!-- device_id can have the following formats:
+         "B00367707227042B": Use device with given serial number
+         "#1"              : Use first device found
+         "2@3"             : Use device on USB bus 2, address 3
+         "2@0"             : Use first device found on USB bus 2
+    -->
+  <arg name="device_id" default="#1" />
+
+  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
+       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
+       See camera_info_manager docs for calibration URL details. -->
+  <arg name="rgb_camera_info_url"   default="" />
+  <arg name="depth_camera_info_url" default="" />
+
+  <!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
+  <arg name="depth_registration" default="false" />
+
+  <!-- Arguments for remapping all device namespaces -->
+  <arg name="rgb"                       default="rgb" />
+  <arg name="ir"                        default="ir" />
+  <arg name="depth"                     default="depth" />
+  <arg name="depth_registered"          default="depth_registered" />
+  <arg name="depth_registered_filtered" default="depth_registered" />
+  <arg name="projector"                 default="projector" />
+
+  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
+       tree. Useful if you are playing back recorded raw data from a bag, or are
+       supplying a more accurate tf tree from calibration. -->
+  <arg name="load_driver" default="true" />
+  <arg name="publish_tf" default="true" />
+  <!-- Processing Modules -->
+  <arg name="rgb_processing"                  default="true"/>
+  <arg name="ir_processing"                   default="true"/>
+  <arg name="depth_processing"                default="true"/>
+  <arg name="depth_registered_processing"     default="true"/>
+  <arg name="disparity_processing"            default="true"/>
+  <arg name="disparity_registered_processing" default="true"/>
+  <arg name="hw_registered_processing"        default="true" />
+  <arg name="sw_registered_processing"        default="true" />
+
+  <!-- Disable bond topics by default -->
+  <arg name="bond" default="false" /> <!-- DEPRECATED, use respawn arg instead -->
+  <arg name="respawn" default="$(arg bond)" />
+
+  <!-- Worker threads for the nodelet manager -->
+  <arg name="num_worker_threads" default="4" />
+
+  <!-- Push down all topics/nodelets into "camera" namespace -->
+  <group ns="$(arg camera)">
+  
+    <!-- Start nodelet manager in top-level namespace -->
+    <arg name="manager" value="$(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="$(arg debug)" />
+      <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
+    </include>
+
+    <!-- Load driver -->
+    <include if="$(arg load_driver)"
+	     file="$(find openni_launch)/launch/includes/device.launch.xml">
+      <!-- Could really use some syntactic sugar for this -->
+      <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="depth_registration"    value="$(arg depth_registration)" />
+      <arg name="rgb"                   value="$(arg rgb)" />
+      <arg name="ir"                    value="$(arg ir)" />
+      <arg name="depth"                 value="$(arg depth)" />
+      <arg name="depth_registered"      value="$(arg depth_registered)" />
+      <arg name="projector"             value="$(arg projector)" />
+      <arg name="respawn"               value="$(arg respawn)" />
+    </include>
+    
+    <!-- Load standard constellation of processing nodelets -->
+    <include file="$(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="depth_registered"                value="$(arg depth_registered)" />
+      <arg name="depth_registered_filtered"       value="$(arg depth_registered_filtered)" />
+      <arg name="projector"                       value="$(arg projector)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="rgb_processing"                  value="$(arg rgb_processing)" />
+      <arg name="ir_processing"                   value="$(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="$(arg camera)" />
+  </include>
+
+</launch>
diff --git a/openni_launch/launch/openni_tf_prefix.launch b/openni_launch/launch/openni_tf_prefix.launch
new file mode 100644
index 0000000..30735eb
--- /dev/null
+++ b/openni_launch/launch/openni_tf_prefix.launch
@@ -0,0 +1,116 @@
+<!-- Entry point for using OpenNI devices (if you still use tf_prefix) -->
+<launch>
+
+  <!-- "camera" should uniquely identify the device. All topics are pushed down
+       into the "camera" namespace, and it is prepended to tf frame ids. -->
+  <arg name="camera" default="camera" />
+  <arg name="tf_prefix" default="" />
+  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
+
+  <!-- device_id can have the following formats:
+         "B00367707227042B": Use device with given serial number
+         "#1"              : Use first device found
+         "2@3"             : Use device on USB bus 2, address 3
+         "2@0"             : Use first device found on USB bus 2
+    -->
+  <arg name="device_id" default="#1" />
+
+  <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml,
+       where ${NAME} is of the form "[rgb|depth]_[serial#]", e.g. "depth_B00367707227042B".
+       See camera_info_manager docs for calibration URL details. -->
+  <arg name="rgb_camera_info_url"   default="" />
+  <arg name="depth_camera_info_url" default="" />
+
+  <!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
+  <arg name="depth_registration" default="false" />
+
+  <!-- Arguments for remapping all device namespaces -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+  <arg name="depth_registered" default="depth_registered" />
+  <arg name="projector"        default="projector" />
+
+  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
+       tree. Useful if you are playing back recorded raw data from a bag, or are
+       supplying a more accurate tf tree from calibration. -->
+  <arg name="load_driver" default="true" />
+  <arg name="publish_tf" default="true" />
+  <!-- Processing Modules -->
+  <arg name="rgb_processing"                  default="true"/>
+  <arg name="ir_processing"                   default="true"/>
+  <arg name="depth_processing"                default="true"/>
+  <arg name="depth_registered_processing"     default="true"/>
+  <arg name="disparity_processing"            default="true"/>
+  <arg name="disparity_registered_processing" default="true"/>
+  <arg name="hw_registered_processing"        default="true" />
+  <arg name="sw_registered_processing"        default="true" />
+
+  <!-- Disable bond topics by default -->
+  <arg name="bond" default="false" /> <!-- DEPRECATED, use respawn arg instead -->
+  <arg name="respawn" default="$(arg bond)" />
+
+  <!-- Worker threads for the nodelet manager -->
+  <arg name="num_worker_threads" default="4" />
+
+  <!-- Push down all topics/nodelets into "camera" namespace -->
+  <group ns="$(arg camera)">
+  
+    <!-- Start nodelet manager in top-level namespace -->
+    <arg name="manager" value="$(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="$(arg debug)" />
+      <arg name="num_worker_threads"  value="$(arg num_worker_threads)" />
+    </include>
+
+    <!-- Load driver -->
+    <include if="$(arg load_driver)"
+	     file="$(find openni_launch)/launch/includes/device.launch.xml">
+      <!-- Could really use some syntactic sugar for this -->
+      <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="depth_registration"    value="$(arg depth_registration)" />
+      <arg name="rgb"                   value="$(arg rgb)" />
+      <arg name="ir"                    value="$(arg ir)" />
+      <arg name="depth"                 value="$(arg depth)" />
+      <arg name="depth_registered"      value="$(arg depth_registered)" />
+      <arg name="projector"             value="$(arg projector)" />
+      <arg name="respawn"               value="$(arg respawn)" />
+    </include>
+    
+    <!-- Load standard constellation of processing nodelets -->
+    <include file="$(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="depth_registered"                value="$(arg depth_registered)" />
+      <arg name="projector"                       value="$(arg projector)" />
+      <arg name="respawn"                         value="$(arg respawn)" />
+      <arg name="rgb_processing"                  value="$(arg rgb_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>
diff --git a/openni_launch/package.xml b/openni_launch/package.xml
new file mode 100644
index 0000000..476c081
--- /dev/null
+++ b/openni_launch/package.xml
@@ -0,0 +1,26 @@
+<package>
+  <name>openni_launch</name>
+  <version>1.9.8</version>
+    <description>
+     Launch files to open an OpenNI device and load all nodelets to 
+     convert raw depth/RGB/IR streams to depth images, disparity images, 
+     and (registered) point clouds.
+    </description>
+  <author>Patrick Mihelich</author>
+  <maintainer email="130s@2000.jukuin.keio.ac.jp">Isaac I.Y. Saito</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/openni_launch</url>
+  <url type="repository">https://github.com/ros-drivers/openni_launch</url>
+  <url type="bugtracker">https://github.com/ros-drivers/openni_launch/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  
+  <!-- test dependency -->
+  <build_depend>roslaunch</build_depend> 
+
+  <run_depend>nodelet</run_depend>
+  <run_depend>openni_camera</run_depend>
+  <run_depend>rgbd_launch</run_depend>
+
+</package>