Merge pull request jsk-ros-pkg#46 from garaemon/add-downsampled-cloud…

…-for-rviz-remote

add downsampled pointcloud for visualization on rviz on remote machine

jsk_pr2_startup/jsk_pr2_sensors/kinect_head.launch

@@ -7,7 +7,7 @@
   <param name="/openni/driver/depth_ir_offset_x" value="4.5" />
   <param name="/openni/driver/depth_ir_offset_y" value="2.5" />
   <include file="$(find openni_launch)/launch/openni.launch"
-	   if="$(arg launch_openni)">
+           if="$(arg launch_openni)">
     <arg name="camera" value="openni"/>
     <arg name="respawn" value="true"/>
     <arg name="publish_tf" value="false"/>
@@ -20,13 +20,27 @@
   <node pkg="jsk_pr2_startup" name="check_openni_node" type="check_openni_node.py" output="screen"
         if="$(arg launch_openni)" />
 
+  <node name="kinect_downsample_for_throttle" pkg="nodelet" type="nodelet"
+        args="load pcl/VoxelGrid /openni_nodelet_manager">
+    <remap from="~input" to="/openni/depth_registered/points"/>
+    <!-- for 0m-4m -->
+    <param name="filter_limit_min" value="0" />
+    <param name="filter_limit_max" value="4" />
+    <!-- down sample with 2cm voxel -->
+    <param name="leaf_size" value="0.02" />
+  </node>
   <node pkg="nodelet" type="nodelet" name="throttle" output="screen"
         args="load jsk_topic_tools/LightweightThrottle /openni_nodelet_manager">
     <remap from="~input" to="/openni/depth_registered/points" />
     <remap from="~output" to="/openni/depth_registered/points_throttle" />
     <param name="update_rate" value="3.0" />
   </node>
-
+  <node pkg="nodelet" type="nodelet" name="throttle_for_vis" output="screen"
+        args="load jsk_topic_tools/LightweightThrottle /openni_nodelet_manager">
+    <remap from="~input" to="kinect_downsample_for_throttle/output" />
+    <remap from="~output" to="/openni/depth_registered/points_throttle_for_vis" />
+    <param name="update_rate" value="3.0" />
+  </node>
   <node name="kinect_image_throttle" pkg="topic_tools" type="throttle"
         args="messages /openni/rgb/image_rect_color/compressed 5.0" />
 </launch>