<commit_before>  <!-- Kinect -->
<!-- configured bringup file for kinect-->
<launch>
  <arg name="img_mode" default="qhd"/>
  <arg name="payload" default="boom"/>
  <arg name="device" default="kinect"/>
  
  <arg name="remote_map" default="false"/>
  <!--for Interfacing with web server and rtabmap together-->
  <!--First two arg's are obsolate at the moments-->

  <include  ns="$(arg payload)" file="$(find kinect2_bridge)/launch/kinect2_bridge.launch" >
    <arg name="base_name" value="$(arg device)"/>
  </include>
  
  
  
  
  <!--First two arg's are obsolate at the moments-->

  <arg name="rate"  default="5"/>
  <arg name="decimation"  default="1"/> <!-- Reduce the image size, e.g., 2 means "width/2 x height/2".-->

  <!-- Use same nodelet used by Freenect/OpenNI -->
  <group ns="throttled_kinect">
    <node if="remote_map" pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="decimation" type="int" value="$(arg decimation)"/>

      <remap from="rgb/image_in"       to="/$(arg payload)/$(arg device)/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image_in"     to="/$(arg payload)/$(arg device)/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info_in" to="/$(arg payload)/$(arg device)/$(arg resolution)/camera_info"/>

      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node>
  </group>      

</launch><commit_msg>arg. type resulting in bug fixed 	modified:   walrus_bringup/launch/includes/kinect_bringup.launch<commit_after>  <!-- Kinect -->
<!-- configured bringup file for kinect-->
<launch>
  <arg name="img_mode" default="qhd"/>
  <arg name="payload" default="boom"/>
  <arg name="device" default="kinect"/>
  
  <arg name="throttle" default="false"/>
  <!--for Interfacing with web server and rtabmap together-->
  <!--First two arg's are obsolate at the moments-->

  <include  ns="$(arg payload)" file="$(find kinect2_bridge)/launch/kinect2_bridge.launch" >
    <arg name="base_name" value="$(arg device)"/>
  </include>
  
  
  
  
  <!--First two arg's are obsolate at the moments-->

  <arg name="rate"  default="5"/>
  <arg name="decimation"  default="1"/> <!-- Reduce the image size, e.g., 2 means "width/2 x height/2".-->

  <!-- Use same nodelet used by Freenect/OpenNI -->
  <group ns="throttled_kinect">
    <node if="$(arg throttle)" pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
      <param name="rate" type="double" value="$(arg rate)"/>
      <param name="decimation" type="int" value="$(arg decimation)"/>

      <remap from="rgb/image_in"       to="/$(arg payload)/$(arg device)/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image_in"     to="/$(arg payload)/$(arg device)/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info_in" to="/$(arg payload)/$(arg device)/$(arg resolution)/camera_info"/>

      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node>
  </group>      

</launch>
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