<launch>

  <param name="/use_sim_time" value="true"/>

  <node name="rosbag_play" pkg="rosbag" type="play"
        args="$(find jsk_perception)/sample/data/2020-11-11-15-58-47-d435-floor.bag --clock --loop"/>

  <group ns="d435">
    <node name="point_cloud_xyzrgb"
          pkg="nodelet" type="nodelet"
          args="standalone depth_image_proc/point_cloud_xyzrgb">
      <remap from="rgb/camera_info" to="color/camera_info"/>
      <remap from="rgb/image_rect_color" to="color/image_raw"/>
      <remap from="depth_registered/image_rect" to="aligned_depth_to_color/image_raw"/>
    </node>
  </group>

</launch>
