<launch>
  <param name="/use_sim_time" value="true"/>
  <arg name="rosbag_play_args" default="--clock --loop" />
  <param name="robot_description"
         command="$(find xacro)/xacro '$(find pr2_description)/robots/pr2.urdf.xacro'"/>

  <node name="rosbag_play" pkg="rosbag" type="play"
        args="$(find jsk_perception)/sample/data/2019-07-18-15-37-50_pr2_self_see.bag $(arg rosbag_play_args)"/>

  <group ns="kinect_head">
    <group ns="rgb">
      <node name="republish"
            pkg="image_transport" type="republish"
            args="compressed raw">
        <remap from="in" to="image_rect_color"/>
        <remap from="out" to="image_rect_color"/>
      </node>
    </group>

    <group ns="depth_registered/hw_registered">
      <node name="republish"
            pkg="image_transport" type="republish"
            args="compressedDepth raw">
        <remap from="in" to="image_rect"/>
        <remap from="out" to="image_rect"/>
      </node>
    </group>

    <node name="point_cloud_xyzrgb"
          pkg="nodelet" type="nodelet"
          args="standalone depth_image_proc/point_cloud_xyzrgb">
      <remap from="rgb/camera_info" to="rgb/camera_info"/>
      <remap from="rgb/image_rect_color" to="rgb/image_rect_color"/>
      <remap from="depth_registered/image_rect" to="depth_registered/hw_registered/image_rect"/>
    </node>
  </group>
</launch>
