git_ws/rbx1/rbx1_apps/launch/head_tracker_app.launch

<launch>

  <!-- The camera arg can be one of kinect, xtion, or usb -->
  <arg name="kinect" default="false" />
  <arg name="xtion" default="false" />
  <arg name="usb" default="false" />

  <!-- These arguments determine which vision node we run -->
  <arg name="face" default="false" />
  <arg name="color" default="false" />
  <arg name="keypoints" default="false" />

  <!-- Launch the appropriate camera driver -->
  <include if="$(arg kinect)" file="$(find freenect_launch)/launch/examples/freenect-registered-xyzrgb.launch" />
  
  <include if="$(arg xtion)" file="$(find openni2_launch)/launch/openni2.launch">
     <arg name="depth_registration" value="true" />
  </include>
  
  <include if="$(arg usb)" file="$(find rbx1_vision)/launch/usb_cam.launch" />
  
  <include if="$(arg face)" file="$(find rbx1_vision)/launch/face_tracker2.launch" />
  <include if="$(arg color)" file="$(find rbx1_vision)/launch/camshift.launch" />
  <include if="$(arg keypoints)" file="$(find rbx1_vision)/launch/lk_tracker.launch" />
  
  <include file="$(find rbx1_dynamixels)/launch/dynamixels.launch" />

  <include file="$(find rbx1_dynamixels)/launch/head_tracker.launch" />
  
</launch>