From 13ef7ed192c027d0957024ea0bf203bcd19e60ac Mon Sep 17 00:00:00 2001
From: Michael Ferguson <mfergs7@gmail.com>
Date: Mon, 22 Jan 2024 10:39:15 -0500
Subject: [PATCH] depth_image_proc: update launch files (#905)

* follow up to #900 - had not noticed these launch files at the time
* remove camera_info topics that auto remap now
---
 depth_image_proc/launch/convert_metric.launch.py     | 1 -
 depth_image_proc/launch/crop_foremost.launch.py      | 1 -
 depth_image_proc/launch/point_cloud_xyz.launch.py    | 1 -
 depth_image_proc/launch/point_cloud_xyzi.launch.py   | 1 -
 depth_image_proc/launch/point_cloud_xyzrgb.launch.py | 3 +--
 depth_image_proc/launch/register.launch.py           | 1 -
 6 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/depth_image_proc/launch/convert_metric.launch.py b/depth_image_proc/launch/convert_metric.launch.py
index 37e6c09f2..45ef995e5 100644
--- a/depth_image_proc/launch/convert_metric.launch.py
+++ b/depth_image_proc/launch/convert_metric.launch.py
@@ -61,7 +61,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::ConvertMetricNode',
                     name='convert_metric_node',
                     remappings=[('image_raw', '/camera/depth/image_rect_raw'),
-                                ('camera_info', '/camera/depth/camera_info'),
                                 ('image', '/camera/depth/converted_image')]
                 ),
             ],
diff --git a/depth_image_proc/launch/crop_foremost.launch.py b/depth_image_proc/launch/crop_foremost.launch.py
index 17485336f..cc04c65ec 100644
--- a/depth_image_proc/launch/crop_foremost.launch.py
+++ b/depth_image_proc/launch/crop_foremost.launch.py
@@ -60,7 +60,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::CropForemostNode',
                     name='crop_foremost_node',
                     remappings=[('image_raw', '/camera/depth/image_rect_raw'),
-                                ('camera_info', '/camera/depth/camera_info'),
                                 ('image', '/camera/depth/converted_image')]
                 ),
             ],
diff --git a/depth_image_proc/launch/point_cloud_xyz.launch.py b/depth_image_proc/launch/point_cloud_xyz.launch.py
index 1428bcec1..3bf5b7e2b 100644
--- a/depth_image_proc/launch/point_cloud_xyz.launch.py
+++ b/depth_image_proc/launch/point_cloud_xyz.launch.py
@@ -61,7 +61,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::PointCloudXyzNode',
                     name='point_cloud_xyz_node',
                     remappings=[('image_rect', '/camera/depth/image_rect_raw'),
-                                ('camera_info', '/camera/depth/camera_info'),
                                 ('image', '/camera/depth/converted_image')]
                 ),
             ],
diff --git a/depth_image_proc/launch/point_cloud_xyzi.launch.py b/depth_image_proc/launch/point_cloud_xyzi.launch.py
index 191b3f089..84c6dc9b8 100644
--- a/depth_image_proc/launch/point_cloud_xyzi.launch.py
+++ b/depth_image_proc/launch/point_cloud_xyzi.launch.py
@@ -63,7 +63,6 @@ def generate_launch_description():
                     name='point_cloud_xyzi',
                     remappings=[('depth/image_rect', '/camera/aligned_depth_to_color/image_raw'),
                                 ('intensity/image_rect', '/camera/color/image_raw'),
-                                ('intensity/camera_info', '/camera/color/camera_info'),
                                 ('points', '/camera/depth/points')]
                 ),
             ],
diff --git a/depth_image_proc/launch/point_cloud_xyzrgb.launch.py b/depth_image_proc/launch/point_cloud_xyzrgb.launch.py
index 10b333ac2..216662bd7 100644
--- a/depth_image_proc/launch/point_cloud_xyzrgb.launch.py
+++ b/depth_image_proc/launch/point_cloud_xyzrgb.launch.py
@@ -60,8 +60,7 @@ def generate_launch_description():
                     package='depth_image_proc',
                     plugin='depth_image_proc::PointCloudXyzrgbNode',
                     name='point_cloud_xyzrgb_node',
-                    remappings=[('rgb/camera_info', '/camera/color/camera_info'),
-                                ('rgb/image_rect_color', '/camera/color/image_raw'),
+                    remappings=[('rgb/image_rect_color', '/camera/color/image_raw'),
                                 ('depth_registered/image_rect',
                                  '/camera/aligned_depth_to_color/image_raw'),
                                 ('points', '/camera/depth_registered/points')]
diff --git a/depth_image_proc/launch/register.launch.py b/depth_image_proc/launch/register.launch.py
index 0eab8878e..ab90975bb 100644
--- a/depth_image_proc/launch/register.launch.py
+++ b/depth_image_proc/launch/register.launch.py
@@ -61,7 +61,6 @@ def generate_launch_description():
                     plugin='depth_image_proc::RegisterNode',
                     name='register_node',
                     remappings=[('depth/image_rect', '/camera/depth/image_rect_raw'),
-                                ('depth/camera_info', '/camera/depth/camera_info'),
                                 ('rgb/camera_info', '/camera/color/camera_info'),
                                 ('depth_registered/image_rect',
                                  '/camera/depth_registered/image_rect'),