<launch> <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/> <node name="filtre_z" pkg="hand_control" type="filtre"> <remap from="/filtre/input" to="/camera/xyzrgb/points"/> </node> <param name="/filtre/zmax" value="0.9" type="double"/> <node name="normal_estimator" pkg="hand_control" type="normal_estimator"> <remap from="/estimator/input" to="/filtre/output"/> </node> <include file="$(find hand_control)/launch/commande.launch"/> </launch>