ros-drivers · 130s · Jan 6, 2018 · Oct 24, 2017 · Jan 4, 2018 · Jan 4, 2018
diff --git 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 → openni_camera/CHANGELOG.rst b/CHANGELOG.rst → openni_camera/CHANGELOG.rst
diff --git a/CMakeLists.txt → openni_camera/CMakeLists.txt b/CMakeLists.txt → openni_camera/CMakeLists.txt
diff --git a/cfg/OpenNI.cfg → openni_camera/cfg/OpenNI.cfg b/cfg/OpenNI.cfg → openni_camera/cfg/OpenNI.cfg
diff --git a/include/openni_camera/openni_depth_image.h → ...nclude/openni_camera/openni_depth_image.h b/include/openni_camera/openni_depth_image.h → ...nclude/openni_camera/openni_depth_image.h
diff --git a/include/openni_camera/openni_device.h → ...era/include/openni_camera/openni_device.h b/include/openni_camera/openni_device.h → ...era/include/openni_camera/openni_device.h
diff --git a/include/openni_camera/openni_device_kinect.h → ...lude/openni_camera/openni_device_kinect.h b/include/openni_camera/openni_device_kinect.h → ...lude/openni_camera/openni_device_kinect.h
diff --git a/include/openni_camera/openni_device_oni.h → ...include/openni_camera/openni_device_oni.h b/include/openni_camera/openni_device_oni.h → ...include/openni_camera/openni_device_oni.h
diff --git a/.../openni_camera/openni_device_primesense.h → .../openni_camera/openni_device_primesense.h b/.../openni_camera/openni_device_primesense.h → .../openni_camera/openni_device_primesense.h
diff --git a/include/openni_camera/openni_device_xtion.h → ...clude/openni_camera/openni_device_xtion.h b/include/openni_camera/openni_device_xtion.h → ...clude/openni_camera/openni_device_xtion.h
diff --git a/include/openni_camera/openni_driver.h → ...era/include/openni_camera/openni_driver.h b/include/openni_camera/openni_driver.h → ...era/include/openni_camera/openni_driver.h
diff --git a/include/openni_camera/openni_exception.h → .../include/openni_camera/openni_exception.h b/include/openni_camera/openni_exception.h → .../include/openni_camera/openni_exception.h
diff --git a/include/openni_camera/openni_image.h → ...mera/include/openni_camera/openni_image.h b/include/openni_camera/openni_image.h → ...mera/include/openni_camera/openni_image.h
diff --git a/...e/openni_camera/openni_image_bayer_grbg.h → ...e/openni_camera/openni_image_bayer_grbg.h b/...e/openni_camera/openni_image_bayer_grbg.h → ...e/openni_camera/openni_image_bayer_grbg.h
diff --git a/include/openni_camera/openni_image_rgb24.h → ...nclude/openni_camera/openni_image_rgb24.h b/include/openni_camera/openni_image_rgb24.h → ...nclude/openni_camera/openni_image_rgb24.h
diff --git a/include/openni_camera/openni_image_yuv_422.h → ...lude/openni_camera/openni_image_yuv_422.h b/include/openni_camera/openni_image_yuv_422.h → ...lude/openni_camera/openni_image_yuv_422.h
diff --git a/include/openni_camera/openni_ir_image.h → ...a/include/openni_camera/openni_ir_image.h b/include/openni_camera/openni_ir_image.h → ...a/include/openni_camera/openni_ir_image.h
diff --git a/openni_nodelets.xml → openni_camera/openni_nodelets.xml b/openni_nodelets.xml → openni_camera/openni_nodelets.xml
diff --git a/package.xml → openni_camera/package.xml b/package.xml → openni_camera/package.xml
diff --git a/src/nodelets/driver.cpp → openni_camera/src/nodelets/driver.cpp b/src/nodelets/driver.cpp → openni_camera/src/nodelets/driver.cpp
diff --git a/src/nodelets/driver.h → openni_camera/src/nodelets/driver.h b/src/nodelets/driver.h → openni_camera/src/nodelets/driver.h
diff --git a/src/nodes/openni_node.cpp → openni_camera/src/nodes/openni_node.cpp b/src/nodes/openni_node.cpp → openni_camera/src/nodes/openni_node.cpp
diff --git a/src/openni_depth_image.cpp → openni_camera/src/openni_depth_image.cpp b/src/openni_depth_image.cpp → openni_camera/src/openni_depth_image.cpp
diff --git a/src/openni_device.cpp → openni_camera/src/openni_device.cpp b/src/openni_device.cpp → openni_camera/src/openni_device.cpp
diff --git a/src/openni_device_kinect.cpp → openni_camera/src/openni_device_kinect.cpp b/src/openni_device_kinect.cpp → openni_camera/src/openni_device_kinect.cpp
diff --git a/src/openni_device_oni.cpp → openni_camera/src/openni_device_oni.cpp b/src/openni_device_oni.cpp → openni_camera/src/openni_device_oni.cpp
diff --git a/src/openni_device_primesense.cpp → ...i_camera/src/openni_device_primesense.cpp b/src/openni_device_primesense.cpp → ...i_camera/src/openni_device_primesense.cpp
diff --git a/src/openni_device_xtion.cpp → openni_camera/src/openni_device_xtion.cpp b/src/openni_device_xtion.cpp → openni_camera/src/openni_device_xtion.cpp
diff --git a/src/openni_driver.cpp → openni_camera/src/openni_driver.cpp b/src/openni_driver.cpp → openni_camera/src/openni_driver.cpp
diff --git a/src/openni_example.cpp → openni_camera/src/openni_example.cpp b/src/openni_example.cpp → openni_camera/src/openni_example.cpp
diff --git a/src/openni_exception.cpp → openni_camera/src/openni_exception.cpp b/src/openni_exception.cpp → openni_camera/src/openni_exception.cpp
diff --git a/src/openni_image_bayer_grbg.cpp → ...ni_camera/src/openni_image_bayer_grbg.cpp b/src/openni_image_bayer_grbg.cpp → ...ni_camera/src/openni_image_bayer_grbg.cpp
diff --git a/src/openni_image_rgb24.cpp → openni_camera/src/openni_image_rgb24.cpp b/src/openni_image_rgb24.cpp → openni_camera/src/openni_image_rgb24.cpp
diff --git a/src/openni_image_yuv_422.cpp → openni_camera/src/openni_image_yuv_422.cpp b/src/openni_image_yuv_422.cpp → openni_camera/src/openni_image_yuv_422.cpp
diff --git a/src/openni_ir_image.cpp → openni_camera/src/openni_ir_image.cpp b/src/openni_ir_image.cpp → openni_camera/src/openni_ir_image.cpp
diff --git a/test/test_file.py → openni_camera/test/test_file.py b/test/test_file.py → openni_camera/test/test_file.py
diff --git a/test/test_launch.py → openni_camera/test/test_launch.py b/test/test_launch.py → openni_camera/test/test_launch.py
diff --git a/test/test_subscription.py → openni_camera/test/test_subscription.py b/test/test_subscription.py → openni_camera/test/test_subscription.py
diff --git a/openni_launch/CHANGELOG.rst 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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>