<launch>
    <!-- start sensor-->            
    <include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch">
        <arg name="base_name"         value="kinect2"/>
        <arg name="sensor"            value=""/>
        <arg name="publish_tf"        value="true"/>
        <arg name="base_name_tf"      value="kinect2"/>
        <arg name="fps_limit"         value="-1.0"/>
        <arg name="calib_path"        value="$(find kinect2_bridge)/data/"/>
        <arg name="use_png"           value="false"/>
        <arg name="jpeg_quality"      value="90"/>
        <arg name="png_level"         value="1"/>
        <arg name="depth_method"      value="default"/>
        <arg name="depth_device"      value="-1"/>
        <arg name="reg_method"        value="default"/>
        <arg name="reg_device"        value="-1"/>
        <arg name="max_depth"         value="12.0"/>
        <arg name="min_depth"         value="0.1"/>
        <arg name="queue_size"        value="5"/>
        <arg name="bilateral_filter"  value="true"/>
        <arg name="edge_aware_filter" value="true"/>
        <arg name="worker_threads"    value="4"/>
    </include>  

  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
    <remap from="image" to="/kinect2/qhd/image_depth_rect"/>
    <remap from="camera_info" to="/kinect2/qhd/camera_info" />
    <remap from="scan" to="/scan" /> 
    <param name="output_frame_id" value="camera_link"/>
    <param name="scan_height" value="30"/>
    <param name="range_min" value="0.45"/>
    <param name="range_max" value="8.00"/>
  </node>

  <node name="pub_compressed_image" pkg="image_transport" type="republish" args="raw in:=/kinect2/qhd/image_color out:=/usb_cam/image_compressed">
    <remap from="/usb_cam/image_compressed/compressed" to="/compressed_image"/>
  </node>

</launch>
