<?xml version="1.0"?>

<launch>

<arg name="rgb_processing"     default="true" />
<arg name="depth_registration" default="true" />
<arg name="depth_processing"   default="true" />

<!-- 模型 -->
<include file="$(find xiaoqiang_udrf)/launch/xiaoqiang_udrf.launch" />
<!-- 底盘驱动 -->
<include file="$(find xqserial_server)/launch/xqserial.launch" />


<node pkg="topic_tools" type="relay" name="rename_odom" args="/xqserial_server/Odom /odom" />

<!-- kinect驱动 -->
<include file="$(find freenect_launch)/launch/freenect.launch">
    <arg name="rgb_processing"                  default="$(arg rgb_processing)" />
    <arg name="ir_processing"                   default="false" />
    <arg name="depth_processing"                default="$(arg depth_registration)" />
    <arg name="depth_registration"              default="$(arg depth_processing)" /> 
    <arg name="depth_registered_processing"     default="false" />
    <arg name="disparity_processing"            default="false" />
    <arg name="disparity_registered_processing" default="false" />
    <arg name="sw_registered_processing"        default="false" />
    <arg name="hw_registered_processing"        default="false" />
    <arg name="enable_rgb_diagnostics"          default="false" />
    <arg name="enable_depth_diagnostics"        default="false" />
</include>
<!-- 确定camera的位置，使得freenect出来的结点知道位置 -->

<node pkg="tf" type="static_transform_publisher" name="camera_base_trans" args="-0.135557 0 0.255 0 0 0 /base_link /camera_link 100" />
</launch>