<!--
Copyright © 2015 CentraleSupélec

This file is part of Hand Control.

Hand Control is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

Hand Control is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
-->
<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>