ros-simulation/stage_ros — pull request #2 by tut-yury (2013-08-23 09:13:48+00:00)
Title: Cameras

Added RGB+3D-sensor interface (Primesense/Kinect/Xtion).
* Publishes CameraInfo, depth image, RGBA image, tf (takes world-file pantilt paremeter into account)
* Supports the "old" configuration (laser+odom) as well as camera+odom, laser+camera+odom and odom-only.

Fixed laser transform height (previously was hardcoded at 0.15, now it takes robot height into account).