<launch>
  <include file="$(find openni2_launch)/launch/openni2.launch" >
    <arg name="depth_registration" value="true" />
    <arg name="rgb_camera_info_url"
        value="file://$(find pibot_3dsensor)/calibration/rgb_PS1080_PrimeSense.yaml" />
    <arg name="depth_camera_info_url"
        value="file://$(find pibot_3dsensor)/calibration/depth_PS1080_PrimeSense.yaml" />
  </include>

  <!-- Run the image transport node -->
  <node name="pub_compressed_image" pkg="image_transport" type="republish" args="raw in:=/camera/rgb/image_raw compressed out:=/usb_cam/image_compressed">
    <remap from="/usb_cam/image_compressed/compressed" to="/compressed_image"/>
  </node>
</launch>
