<launch>
  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>

  <node name="filter" pkg="hand_control" type="filter">
    <remap from="/filter/input" to="/camera/xyzrgb/points"/>
  </node>

  <node name="estimator" pkg="hand_control" type="estimator">
    <remap from="/estimator/input" to="/filter/output"/>
  </node>

  <node name="commander" pkg="hand_control" type="commander">
    <remap from="/commander/input" to="/estimator/output"/>
  </node>

</launch>