Run with bagfiles

Disable load_driver option in openni:

• go to the openni launch file:

$ roscd openni_launch/launch/

$ sudo vim openni.launch

• change <arg name="load_driver" default="true" /> to <arg name="load_driver" default="false" />

Remapping topic: (rosbag doesn't seem to publish the rectified image)

$ roscd rgbdslam/launch/

$ vim openni+rgbdslam.launch

• change <param name="config/topic_image_depth" value="/camera/depth_registered/sw_registered/image_rect_raw"/> to <param name="config/topic_image_depth" value="/camera/depth_registered/image_raw"/>

Launch openni+rgbdslam:

$ roslaunch rgbdslam openni+rgbdslam.launch

Play the bagfile:

$ rosbag play [bag_file_name_here]

Run with Kinect

Launch openni+rgbdslam:

$ roslaunch rgbdslam qvga-kinect+rgbdslam.launch