<launch>
  <include file="$(find openni_launch)/launch/openni.launch" />
  <group ns="camera">
    <node pkg="nodelet"
          type="nodelet"
          name="throttle"
          output="screen"
          clear_params="true"
          args="load jsk_topic_tools/LightweightThrottle /camera/camera_nodelet_manager">
      <remap from="~input" to="/camera/depth/points" />
      <remap from="~output" to="/camera/depth/points_throttle" />
      <param name="update_rate" value="10.0" />
    </node>
    <!-- mux sample for images -->
    <node pkg="nodelet"
          type="nodelet"
          name="mux"
          output="screen"
          clear_params="true"
          args="load jsk_topic_tools/MUX /camera/camera_nodelet_manager">
      <rosparam>
        topics: ["/camera/rgb/image_raw", "/camera/rgb/image_rect_color", "/camera/rgb/image_rect_mono", "/camera/rgb/image_color"]
      </rosparam>
      <remap from="~output" to="/camera/rgb/image_mux" />
      <!-- rosrun topic_tools mux_select /camera/mux /camera/rgb/image_rect_mono -->
      <!-- rosrun topic_tools mux_list /camera/mux -->
      <!-- rosrun topic_tools mux_delete /camera/mux /camera/rgb/image_rect_color -->
      <!-- rosrun topic_tools mux_add /camera/mux /camera/rgb/image_rect_color -->
    </node>
  </group>
</launch>
