<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>