<?xml version="1.0"?>

<launch>

    <arg name="camera" default="camera" />

    <!-- start sensor-->
    <include file="$(find openni2_launch)/launch/openni2.launch">
        <arg name="camera" default="$(arg camera)"/>
    </include>

    <!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
    <node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet $(arg camera)_nodelet_manager">

        <remap from="cloud_in" to="$(arg camera)/depth_registered/points_processed"/>
        <remap from="scan" to="$(arg camera)/scan"/>
        <rosparam>
            target_frame: camera_link # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: 0.0
            max_height: 1.0

            angle_min: -1.5708 # -M_PI/2
            angle_max: 1.5708 # M_PI/2
            angle_increment: 0.0087 # M_PI/360.0
            scan_time: 0.3333
            range_min: 0.45
            range_max: 4.0
            use_inf: true
            inf_epsilon: 1.0

            # Concurrency level, affects number of pointclouds queued for processing, thread number governed by nodelet manager
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>

    </node>

</launch>