centroid.launch

<!--
  The turtlebot people (or whatever) follower nodelet.
 -->
<launch>
  <arg name="simulation"    default="false"/>
  <group unless="$(arg simulation)"> <!-- Real robot -->
      <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
      <arg name="rgb_processing"                  value="true"/>  <!-- only required if we use android client -->
      <arg name="depth_processing"                value="true"/>
      <arg name="depth_registered_processing"     value="false"/>
      <arg name="depth_registration"              value="false"/>
      <arg name="disparity_processing"            value="false"/>
      <arg name="disparity_registered_processing" value="false"/>
      <arg name="scan_processing"                 value="false"/>
    </include>
  </group>
  <group if="$(arg simulation)">
    <!-- Load nodelet manager for compatibility -->
    <node pkg="nodelet" type="nodelet" ns="camera" name="camera_nodelet_manager" args="manager"/>
  </group>

  <!--  Real robot: Load centroid goal generator into the 3d sensor's nodelet manager to avoid pointcloud serializing -->
  <!--  Simulation: Load centroid goal generator into nodelet manager for compatibility -->
  <node pkg="nodelet" type="nodelet" name="turtlebot_follower_centroid"
        args="load turtlebot_follower/Centroid camera/camera_nodelet_manager">
    <remap from="turtlebot_follower_centroid/goal" to="turtlebot_follower/goal"/>
    <remap from="depth/points" to="camera/depth/points"/>
    <param name="min_x" value="-0.35" />
    <param name="max_x" value="0.35" />
    <param name="min_y" value="0.1" />
    <param name="max_y" value="0.5" />
    <param name="max_z" value="1.2" />
  </node>
</launch>