<launch>
	<include file="$(find astra_launch)/launch/astra.launch"/>
	<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">

		<remap from="image" to="/camera/depth_registered/image_raw" />
		<remap from="camera_info" to="/camera/depth_registered/camera_info" />
		<remap from="scan" to="/scan" />

		<param name="scan_height" value="1"/>
		<param name="scan_time" value="0.05"/>
		<param name="range_min" value="0.5"/>
		<param name="range_max" value="5.5"/>
		<param name="output_frame_id" value="camera_link" />

	</node>

</launch>

