Hector SLAM + Kinect - Launch File 1

<launch>

<include file="$(find openni_launch)/launch/openni.launch"/>

<node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">

<param name="max_rate" value="2"/>
<remap from="cloud_in" to="/camera/depth/points"/>
<remap from="cloud_out" to="cloud_throttled"/>

</node>
<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">

<param name="output_frame_id" value="/camera_depth_frame"/> <remap from="cloud" to="cloud_throttled"/>
</node>

</launch>