clip_cloth

<?xml version="1.0" encoding="utf-8"?>
<launch>
  <arg name="INPUT_IMAGE" value="/head_mount_kinect/qhd/image_color_rect_repub_desktop" />
  <arg name="INPUT_HALF_CLOUD" value="/head_mount_kinect/qhd/republished_half_points_desktop" />
  <arg name="CAMERA_INFO" value="/head_mount_kinect/qhd/camera_info" />
  <arg name="INPUT_BOX" value="/table_box" />
  <arg name="manager" value="/head_mount_kinect/qhd/kinect_republished_nodelet_manager" />

  <node name="table_box_publisher"
        pkg="box_publisher" type="pub_box.py"
        respawn="true">
    <remap from="~output" to="table_box" />
      <rosparam>
        x: 0.8
        y: 0.2
        z: 0.7
        w: 1.0
        d: 0.8
        h: 0.2
        frame: base_link
      </rosparam>
  </node>

  <node name="attention_clipper"
        pkg="nodelet" type="nodelet"
        args="load jsk_pcl/AttentionClipper $(arg manager)"
        respawn="true">
    <remap from="~input" to="$(arg CAMERA_INFO)" />
    <remap from="~input/points" to="$(arg INPUT_HALF_CLOUD)" />
    <remap from="~input/box" to="$(arg INPUT_BOX)" />
  </node>

  <node name="extract_indices"
        pkg="nodelet" type="nodelet"
        args="load jsk_pcl/ExtractIndices $(arg manager)"
        respawn="true">
    <remap from="~input" to="$(arg INPUT_HALF_CLOUD)" />
    <remap from="~indices" to="attention_clipper/output/point_indices" />
    <rosparam>
      keep_organized: true
    </rosparam>
  </node>

  <node name="cloud_to_mask"
        pkg="cloud2mask" type="cloud_to_mask.py"
        output="screen" cwd="node"
        respawn="true">
    <rosparam subst_value="true" >
      input_cloud: /extract_indices/output
      camera_info: $(arg CAMERA_INFO)
      clip_rect: false
    </rosparam>
  </node>

  <node name="apply_mask_image"
        pkg="nodelet" type="nodelet"
        args="load jsk_perception/ApplyMaskImage $(arg manager)"
        output="screen" respawn="true">
    <remap from="~input" to="$(arg INPUT_IMAGE)" />
    <remap from="~input/mask" to="cloud_to_mask/output" />
    <remap from="~input/camera_info" to="$(arg CAMERA_INFO)" />
    <rosparam>
      approximate_sync: true
      queue_size: 300
      clip: True
      use_rectified_image: false
    </rosparam>
  </node>
</launch>

republish kinect

 <launch>

   <!-- kinect -->
   <arg name="queue_size" default="30" />
   <arg name="half_step" default="2" />

  <group ns="/head_mount_kinect/hd">
    <node name="rgb_republish_desktop"
          pkg="image_transport" type="republish"
          args="compressed raw"
          output="screen" cwd="node"
          respawn="true">
      <remap from="in" to="image_color_rect" />
      <remap from="out" to="image_color_rect_repub_desktop" />
    </node>
    <node name="depth_republish_desktop"
          pkg="image_transport" type="republish"
          args="compressed raw"
          respawn="true">
      <remap from="in" to="image_depth_rect" />
      <remap from="out" to="image_depth_rect_repub_desktop" />
    </node>
  </group>

  <group ns="/head_mount_kinect/qhd">
    <arg name="manager" value="kinect_republished_nodelet_manager" />
    <node name="$(arg manager)"
          pkg="nodelet" type="nodelet"
          args="manager"
          output="screen" cwd="node"
          respawn="true">
    </node>
    <node name="rgb_republish_desktop"
          pkg="image_transport" type="republish"
          args="compressed raw"
          respawn="true">
      <remap from="in" to="image_color_rect" />
      <remap from="out" to="image_color_rect_repub_desktop" />
    </node>
    <node name="depth_republish_desktop"
          pkg="image_transport" type="republish"
          args="compressed raw"
          respawn="true">
      <remap from="in" to="image_depth_rect" />
      <remap from="out" to="image_depth_rect_repub_desktop" />
    </node>

    <node name="republished_points_xyzrgb_qhd_desktop_desktop"
          pkg="nodelet" type="nodelet"
          args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)"
          respawn="true">
      <remap from="rgb/camera_info"             to="camera_info"/>
      <remap from="rgb/image_rect_color"        to="image_color_rect_repub_desktop"/>
      <remap from="depth_registered/image_rect" to="image_depth_rect_repub_desktop"/>
      <remap from="depth_registered/points"     to="republished_points_desktop"/>
      <param name="queue_size" type="int" value="$(arg queue_size)"/>
    </node>

    <node name="qhd_half"
          pkg="nodelet"
          type="nodelet"
          args="load jsk_pcl/ResizePointsPublisher $(arg manager)"
          respawn="true">
      <remap from="~input" to="republished_points_desktop"/>
      <remap from="~output" to="republished_half_points_desktop"/>
      <param name="step_x" value="$(arg half_step)" />
      <param name="step_y" value="$(arg half_step)" />
    </node>
  </group>

</launch>