<launch>
  <include file="$(find openni2_launch)/launch/openni2.launch" >
     <arg name="depth_registration" value="true" />
     <!--arg name="publish_tf" value="false" /-->
  </include>

  <!-- Run the depthimage_to_laserscan node -->
  <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="output_frame_id" value="camera_link" />
  </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>
