<launch>
  <include file="$(find openni2_launch)/launch/openni2.launch">
    <arg name="depth_registration" value="true" />
  </include>
  <node pkg="jsk_network_tools" type="silverhammer_highspeed_streamer.py"
        output="screen"
        name="streamer">
    <rosparam>
      message: jsk_network_tools/OpenNISample
    </rosparam>
  </node>
  <node pkg="jsk_network_tools" type="silverhammer_highspeed_receiver.py"
        output="screen"
        name="receiver">
    <rosparam>
      message: jsk_network_tools/OpenNISample
      topic_prefix: relayed
    </rosparam>
  </node>
  <node pkg="image_view" type="image_view" name="original_image">
    <remap from="image" to="/camera/rgb/image_rect_color" />
  </node>
  <node pkg="image_view" type="image_view" name="relayed_image">
    <remap from="image" to="/relayed/camera/rgb/image_rect_color" />
  </node>
</launch>
