openni_launch patch

gistfile1.txt

diff -r 7126145eb885 launch/includes/depth.launch
--- a/launch/includes/depth.launch  Tue Dec 11 11:23:14 2012 -0800
+++ b/launch/includes/depth.launch	Thu Dec 13 18:04:46 2012 -0600
@@ -4,6 +4,8 @@
   <arg name="manager" />
   <arg name="points_xyz" default="true" />
   <arg name="rectify" default="true" />
+  <arg name="publish_metric" default="true" />
+  <arg name="publish_metric_rect" default="true" />
 
   <arg name="respawn" default="false" />
   <arg     if="$(arg respawn)" name="bond" value="" />
@@ -22,7 +24,7 @@
   </node>
 
   <!-- Rectified depth image -->
-  <node pkg="nodelet" type="nodelet" name="metric_rect"
+  <node if="$(arg publish_metric_rect)" pkg="nodelet" type="nodelet" name="metric_rect"
         args="load depth_image_proc/convert_metric $(arg manager) $(arg bond)"
 	respawn="$(arg respawn)">
     <remap from="image_raw" to="image_rect_raw" />
@@ -30,7 +32,7 @@
   </node>
   
   <!-- Unrectified depth image -->
-  <node pkg="nodelet" type="nodelet" name="metric"
+  <node if="$(arg publish_metric)" pkg="nodelet" type="nodelet" name="metric"
         args="load depth_image_proc/convert_metric $(arg manager) $(arg bond)"
 	respawn="$(arg respawn)" />
 
diff -r 7126145eb885 launch/includes/depth_registered.launch
--- a/launch/includes/depth_registered.launch	Tue Dec 11 11:23:14 2012 -0800
+++ b/launch/includes/depth_registered.launch	Thu Dec 13 18:04:46 2012 -0600
@@ -8,6 +8,16 @@
   <arg     if="$(arg respawn)" name="bond" value="" />
   <arg unless="$(arg respawn)" name="bond" value="--no-bond" />
 
+  <!-- Enabling both will lead to a trivial error during launch -->
+  <!-- http://www.ros.org/wiki/openni_launch#Error_during_launch -->
+  <arg name="allow_software_registration" default="true" />
+  <arg name="allow_hardware_registration" default="true" />
+
+  <!-- (optional) publish the registered xyzrgb cloud -->
+  <arg name="publish_metric" default="true" />
+  <arg name="publish_metric_rect" default="true" />
+  <arg name="points_xyzrgb" default="true" />
+
   <!-- TODO: Instead "rgb", "depth" and "depth_registered" should be remapped as
        necessary by top-level launch file -->
   <arg name="rgb"              default="rgb" />
@@ -18,7 +28,7 @@
   <arg name="suffix" default="$(arg depth)_$(arg rgb)" />
 
   <!-- Registration nodelet, projecting depth to RGB camera -->
-  <node pkg="nodelet" type="nodelet" name="register_$(arg suffix)"
+  <node if="$(arg allow_software_registration)" pkg="nodelet" type="nodelet" name="register_$(arg suffix)"
         args="load depth_image_proc/register $(arg manager) $(arg bond)"
 	respawn="$(arg respawn)">
     <!-- Explicit topic remappings, shouldn't need all of these -->
@@ -34,10 +44,13 @@
     <arg name="manager"    value="$(arg manager)" />
     <arg name="points_xyz" value="false" /> <!-- Suppress XYZ point cloud -->
     <arg name="respawn" value="$(arg respawn)" />
+    <arg name="rectify" value="$(arg allow_hardware_registration)" />
+    <arg name="publish_metric" value="$(arg publish_metric)" />
+    <arg name="publish_metric_rect" value="$(arg publish_metric_rect)" />
   </include>
 
   <!-- Instead publish registered XYZRGB point cloud -->
-  <node pkg="nodelet" type="nodelet" name="points_xyzrgb_$(arg suffix)"
+  <node if="$(arg points_xyzrgb)" pkg="nodelet" type="nodelet" name="points_xyzrgb_$(arg suffix)"
         args="load depth_image_proc/point_cloud_xyzrgb $(arg manager) $(arg bond)"
 	respawn="$(arg respawn)">
     <!-- Explicit topic remappings, shouldn't need all of these -->