Copying the entire openni_launch package from https://github.com/ros-…

…drivers/openni_launch. See ros-drivers/openni_launch#30 (comment) for the decision for this change. Preserving commit history was attempted (using the method in http://www.pixelite.co.nz/article/extracting-file-folder-from-git-repository-with-full-git-history), but didn't seem to easily work due to ros-drivers/openni_launch#4 that resurrects the change made previously in a few files and somehow `git am` command stops. So unfortunately, instead of spending more time on trying to save the commit history, I suggest to move forward.
130s · Jan 4, 2018 · 5a075b5 · 5a075b5
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diff --git a/openni_launch/CHANGELOG.rst b/openni_launch/CHANGELOG.rst
@@ -0,0 +1,88 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package openni_launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.9.8 (2016-05-07)
+------------------
+* [feat] adding depth_registered_filtered injection `#26 <https://github.com/ros-drivers/openni_launch/issues/26>`_
+* [sys][Travis CI] Update config to using industrial_ci with Prerelease Test. `#28 <https://github.com/ros-drivers/openni_launch/issues/28>`_
+* Contributors: Jonathan Bohren, Isaac I.Y. Saito
+
+1.9.7 (2015-11-15)
+------------------
+* 1st ROS Jade release
+* [sys] Add a simple travis config
+* Contributors: Isaac I.Y. Saito
+
+1.9.6 (2015-10-27)
+------------------
+* [feat] adjust frame ids to TF2
+* [fix] Removes the leading '/' from the TF frames in case tf_prefix is empty, which fixes this error:
+  [ WARN] [1432284298.914340788]: TF2 exception:
+  Invalid argument "/camera_rgb_optical_frame" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:  (/camera/camera_nodelet_manager)
+  Actually, tf_prefix is now ignored altogether.
+* Contributors: Jack O'Quin, Jonathan Binney, Martin Günther
+
+1.9.5 (2014-04-18)
+------------------
+* Test the ROS launch files, fix some errors (`#10
+  <https://github.com/ros-drivers/openni_launch/issues/10>`_).
+* Fix errors found by roslaunch unit test (`#10
+  <https://github.com/ros-drivers/openni_launch/issues/10>`_).
+* Add unit tests for launch file dependencies.
+* Contributors: Jack O'Quin, jonbinney
+
+1.9.4 (2013-08-25 18:04)
+------------------------
+* Fix missing run_depend.
+* Contributors: Marcus Liebhardt, jonbinney
+
+1.9.3 (2013-08-25 17:49)
+------------------------
+* Switch to rgbd_launch.
+* Added sw_registration and hw_registration flags.
+* Modified the top level file to use internal file names.
+* device.launch is now internal.
+* Added deprecation notice about rgb.launch.
+* Deprecation notices about the move of common launch files to rgbd_launch.
+* Added tf prefix resolution.
+* Contributors: Piyush Khandelwal, jonbinney
+
+1.9.2 (2013-08-01)
+------------------
+* Fix device registered point cloud generation.
+* Disabled unregistered depth and disparity processing when
+  depth_registration is set to true.
+* Fixing xyzrgb pointcloud generation when device registration is
+  enabled.
+* Contributors: Piyush Khandelwal, jonbinney
+
+1.9.1 (2013-07-29)
+------------------
+* Allow proper usage of namespaces for openni's nodes and nodelets.
+* Add arguments for switching on/off each processing module.
+* Removes (assumed) duplicated depth nodelets include thereby removing
+  service registration error.
+* Add topic remappings to sort the versious nodelets i/o (i.e. depth, rgb etc.).
+* Add option of utilising the worker threads parameter for the nodelet manager.
+* Moves nodelet_manager into camera namespace.
+* Contributors: Marcus Liebhardt, jonbinney
+
+1.9.0 (2013-06-27)
+------------------
+
+1.8.3 (2013-01-03)
+------------------
+* Catkinizing openni_launch.
+* Moved manager setup to manager.launch. Added options load_driver and
+  publish_tf for suppressing the driver and/or default tf tree, to
+  better support bag file playback and calibration.
+* Moved launching of all processing nodelets from device.launch to new
+  processing.launch for better reusability, for example bag file
+  playback.
+* Use 'respawn' arg instead of 'bond' (deprecated). Conforms to
+  image_proc and stereo_image_proc launch files, and now attempts to
+  respawn loaders when bonds are enabled. Removed rgb.launch, using
+  image_proc.launch instead.
+* Initial commit of openni_launch as unary stack.
+* Contributors: Jonathan Binney, Julius Kammerl, Michael Ferguson, Patrick Mihelich, jbinney
diff --git a/openni_launch/CMakeLists.txt b/openni_launch/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(openni_launch)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+)
+
+# unit tests are enabled selectively
+if (CATKIN_ENABLE_TESTING)
+  # check that all launch file dependencies are declared correctly
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(launch)
+  roslaunch_add_file_check(launch/includes)
+endif ()
diff --git a/openni_launch/README.rst b/openni_launch/README.rst
@@ -0,0 +1,14 @@
+Overview
+========
+
+The `openni_launch`_ package contains launch files for using
+OpenNI-compliant devices such as the Microsoft Kinect in ROS_.  It
+creates a nodelet graph to transform raw data from the device driver
+into point clouds, disparity images, and other products suitable for
+processing and visualization.
+
+See also: `rgbd_launch`_.
+
+.. _`openni_launch`: http://wiki.ros.org/openni_launch
+.. _`rgbd_launch`: http://wiki.ros.org/rgbd_launch
+.. _ROS: http://wiki.ros.org/
diff --git a/openni_launch/launch/includes/depth.launch b/openni_launch/launch/includes/depth.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="points_xyz" default="" />
+  <arg name="rectify" default="" />
+  <arg name="respawn" default="" />
+  <arg name="depth" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="depth.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/depth.launch" />
+    <param name="to_pkg_path" value="launch/includes/depth.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/depth_registered.launch b/openni_launch/launch/includes/depth_registered.launch
@@ -0,0 +1,28 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="allow_hardware_registration" default="" />
+  <arg name="allow_software_registration" default="" />
+  <arg name="depth" default="" />
+  <arg name="depth_registered" default="" />
+  <arg name="depth_registration" default="" />
+  <arg name="manager" default="" />
+  <arg name="points_xyzrgb" default="" />
+  <arg name="publish_metric_rect" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+  <arg name="suffix" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_registered_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="depth_registered.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/depth_registered.launch" />
+    <param name="to_pkg_path" value="launch/includes/depth_registered.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/device.launch b/openni_launch/launch/includes/device.launch
@@ -0,0 +1,30 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="device_id" default="" />
+  <arg name="rgb_frame_id" default="" />
+  <arg name="depth_frame_id" default="" />
+  <arg name="rgb_camera_info_url" default="" />
+  <arg name="depth_camera_info_url" default="" />
+  <arg name="depth_registration" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+  <arg name="ir" default="" />
+  <arg name="depth" default="" />
+  <arg name="depth_registered" default="" />
+  <arg name="projector" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="device.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="openni_launch" />
+    <param name="from_pkg_path" value="launch/includes/device.launch" />
+    <param name="to_pkg_path" value="launch/includes/device.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/device.launch.xml b/openni_launch/launch/includes/device.launch.xml
@@ -0,0 +1,44 @@
+<!-- Launch the OpenNI device driver -->
+<launch>
+
+  <!-- Name of nodelet manager, must be fully resolved -->
+  <arg name="manager" />
+
+  <!-- Driver parameters -->
+  <arg name="device_id" />
+  <arg name="rgb_frame_id" />
+  <arg name="depth_frame_id" />
+  <arg name="rgb_camera_info_url" />
+  <arg name="depth_camera_info_url" />
+  <arg name="depth_registration" />
+
+  <arg name="respawn" default="false" />
+  <arg     if="$(arg respawn)" name="bond" value="" />
+  <arg unless="$(arg respawn)" name="bond" value="--no-bond" />
+
+  <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+  <arg name="depth_registered" default="depth_registered" />
+  <arg name="projector"        default="projector" />
+
+  <!-- Driver nodelet -->
+  <node pkg="nodelet" type="nodelet" name="driver" 
+        args="load openni_camera/driver $(arg manager) $(arg bond)"
+        respawn="$(arg respawn)">
+    <param name="device_id" value="$(arg device_id)" />
+    <param name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
+    <param name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
+    <param name="rgb_frame_id"   value="$(arg rgb_frame_id)" />
+    <param name="depth_frame_id" value="$(arg depth_frame_id)" />
+    <param name="depth_registration" value="$(arg depth_registration)" />
+
+    <remap from="ir" to="$(arg ir)" />
+    <remap from="rgb" to="$(arg rgb)" />
+    <remap from="depth" to="$(arg depth)" />
+    <remap from="depth_registered" to="$(arg depth_registered)" />
+    <remap from="projector" to="$(arg projector)" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/disparity.launch b/openni_launch/launch/includes/disparity.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="depth" default="" />
+  <arg name="projector" default="" />
+  <arg name="respawn" default="" />
+
+  <!-- deprecation notice -->
+  <node name="disparity_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="disparity.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/disparity.launch" />
+    <param name="to_pkg_path" value="launch/includes/disparity.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/ir.launch b/openni_launch/launch/includes/ir.launch
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="ir" default="" />
+
+  <!-- deprecation notice -->
+  <node name="ir_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="ir.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/ir.launch" />
+    <param name="to_pkg_path" value="launch/includes/ir.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/manager.launch b/openni_launch/launch/includes/manager.launch
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="debug" default="" />
+  <arg name="num_worker_threads" default="" />
+
+  <!-- deprecation notice -->
+  <node name="manager_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="manager.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/manager.launch" />
+    <param name="to_pkg_path" value="launch/includes/manager.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/processing.launch b/openni_launch/launch/includes/processing.launch
@@ -0,0 +1,30 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+  <arg name="ir" default="" />
+  <arg name="depth" default="" />
+  <arg name="depth_registered" default="" />
+  <arg name="projector" default="" />
+  <arg name="rgb_processing" default="" />
+  <arg name="ir_processing" default="" />
+  <arg name="depth_processing" default="" />
+  <arg name="depth_registered_processing" default="" />
+  <arg name="disparity_processing" default="" />
+  <arg name="disparity_registered_processing" default="" />
+
+  <!-- deprecation notice -->
+  <node name="processing_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="processing.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/processing.launch" />
+    <param name="to_pkg_path" value="launch/includes/processing.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/includes/rgb.launch b/openni_launch/launch/includes/rgb.launch
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+
+  <!-- deprecation notice -->
+  <node name="rgb_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="rgb.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/rgb.launch" />
+    <param name="to_pkg_path" value="launch/includes/rgb.launch.xml" />
+  </node>
+
+</launch>
diff --git a/openni_launch/launch/kinect_frames.launch b/openni_launch/launch/kinect_frames.launch
@@ -0,0 +1,19 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="camera" default="" />
+  <arg name="tf_prefix" default="" />
+
+  <!-- deprecation notice -->
+  <node name="kinect_frames_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="kinect_frames.launch" />
+    <param name="from_pkg" value="openni_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/kinect_frames.launch" />
+    <param name="to_pkg_path" value="launch/kinect_frames.launch" />
+  </node>
+
+</launch>