git_ws/rbx1/rbx1_bringup/launch/turtlebot_fake_laser_openni2.launch

<launch>
  <!-- Launch the OpenNI2 driver -->
  <include file="$(find openni2_launch)/launch/openni2.launch">
     <arg name="depth_registration" value="true" />
     <arg name="publish_tf" value="false" />
  </include>

  <!-- Run the depthimage_to_laserscan node -->
  <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
    <remap from="image" to="/camera/depth_registered/image_raw" />
    <remap from="camera_info" to="/camera/depth_registered/camera_info" />
    <remap from="scan" to="/scan" />
    <param name="output_frame_id" value="/camera_depth_frame" />
  </node>

</launch>