<launch>

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

  <node name="rosbag_play"
        pkg="rosbag" type="play"
        args="$(find jsk_perception)/sample/data/2017-06-20-12-00-00_people_images_in_lab.bag --clock --loop">
  </node>

  <group ns="/camera/rgb">
    <node name="republish"
          pkg="image_transport" type="republish"
          args="compressed raw">
      <remap from="in" to="image_raw" />
      <remap from="out" to="image_raw" />
    </node>
  </group>
  <group ns="/camera/depth_registered">
    <node name="republish"
          pkg="image_transport" type="republish"
          args="compressedDepth raw">
      <remap from="in" to="image_raw" />
      <remap from="out" to="image_raw" />
    </node>
  </group>

  <include file="$(find openni2_launch)/launch/openni2.launch">
    <arg name="load_driver" value="false"/>
    <arg name="depth_registration" value="true"/>
  </include>

</launch>
