kinect.launch_Didn'tWork_11/30/11

<launch>

  <!-- Enable breaker 1 for the kinect -->
  <node pkg="turtlebot_node" type="kinect_breaker_enabler.py" name="kinect_breaker_enabler"/\
>

  <!-- Kinect -->
  <!-- 11/30/11/Isaac/Testing 2 kinects -->
  <node pkg="nodelet" type="nodelet" name="openni_manager_1" output="screen" respawn="true" \
args="manager">
   <param name="device_id" value="#1"/> <!-- this line uses first enumerated device -->
   <remap from="camera/depth/points" to="camera/depth/points1" />
  </node>

  <node pkg="nodelet" type="nodelet" name="openni_manager_2" output="screen" respawn="true" \
args="manager">
   <param name="device_id" value="#2"/> <!-- this line uses first enumerated device -->
   <remap from="camera/depth/points" to="camera/depth/points2" />
  </node>

  <node pkg="nodelet" type="nodelet" name="openni_camera" args="load openni_camera/OpenNINod\
elet openni_manager" respawn="true">
    <param name="rgb_frame_id" value="kinect_rgb_optical_frame" />
    <param name="depth_frame_id" value="kinect_depth_optical_frame" />
    <param name="depth_registration" value="false" />
    <param name="image_mode" value="2" />
    <param name="depth_mode" value="2" />
    <param name="debayering" value="2" />
    <param name="depth_time_offset" value="-0.055" />
    <param name="image_time_offset" value="0" />

    <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
  </node>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_las\
erscan/CloudThrottle openni_manager" respawn="true">
    <param name="max_rate" value="20.0"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- Fake Laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/\
CloudToScan openni_manager" respawn="true">
    <param name="output_frame_id" value="/kinect_depth_frame"/>
   <!-- heights are in the (optical?) frame of the kinect -->
    <param name="min_height" value="-0.15"/>
    <param name="max_height" value="0.15"/>
    <remap from="cloud" to="/cloud_throttled"/>
  </node>

  <!-- Fake Laser (narrow one, for localization -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_las\
erscan/CloudToScan openni_manager" respawn="true">
    <param name="output_frame_id" value="/kinect_depth_frame"/>
    <!-- heights are in the (optical?) frame of the kinect -->
    <param name="min_height" value="-0.025"/>
    <param name="max_height" value="0.025"/>
    <remap from="cloud" to="/cloud_throttled"/>
    <remap from="scan" to="/narrow_scan"/>
  </node>

</launch>