Reverted the launchfile change made in 1.8.2... this had fixed the duplicate service bug, but caused a depth image to not be published. Will need to look more deeply into the launchfiles to find a suitable fix to the duplicate service problem.
Removed duplicate launching of depth.launch, which was causing a service to be created twice: http://answers.ros.org/question/12244/complaint-from-openni_launch-on-already-advertised-services/
Most changes are to expand the use cases for which openni.launch is suitable. In particular, several features better support bag file playback.
- New launch file arguments
respawn replaces bond (now deprecated). If enabled, it now attempts to respawn nodelet loaders when their bonds are broken. If the nodelet manager dies it should come back up just as it was.
depth_registration:=true enables OpenNI's depth registration based on factory calibration.
publish_tf:=false suppresses the default tf tree, so that extrinsics can be provided by another source (calibration, bag file).
load_driver:=false suppresses loading the OpenNI driver, in case it is provided by another source (robot bringup, bag file).
- Some restructuring of internal launch files for better reusability
Moved all processing nodelets from device.launch to new processing.launch.
Moved manager setup to manager.launch.
rgb.launch replaced by image_proc.launch from image_proc.
First release as unary stack. For previous changes, see openni_kinect/ChangeList.