Update launch

launch/include/camera_nodelets.launch

@@ -2,30 +2,31 @@
 
 <launch>
 
-  <arg name="ns" default="ana"/>
-  <arg name="ns2" default="nav3d/camera"/>
+  <arg name="ns"       default="ana"/>
+  <arg name="ns2"      default="nav3d/camera"/>
   <arg name="ns_nav3d" default="$(arg ns)/$(arg ns2)"/>
 
   <arg name="obstacle_nodelet_manager" default="obstacle_nodelet_manager" />
-  <arg name="hole_nodelet_manager" default="hole_nodelet_manager" />
-  <arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
+  <arg name="hole_nodelet_manager"     default="hole_nodelet_manager" />
+  <arg name="camera_cloud_in"          default="sensors/nav_cam/depth_registered/points"/>
 
-  <arg name="average_node_name" default="average_point_cloud"/>
+  <arg name="average_node_name"   default="average_point_cloud"/>
   <arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
+  <arg name="average_cloud_in"    default="sensors/nav_cam/depth_registered/points_throttle"/>
 
-  <arg name="normals_node_name" default="obstacle_detection_normals"/>
+  <arg name="normals_node_name"   default="obstacle_detection_normals"/>
   <arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
 
-  <arg name="near_hole_detection_node_name" default="near_hole_detection"/>
+  <arg name="near_hole_detection_node_name"   default="near_hole_detection"/>
   <arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
-  <arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
+  <arg name="hole_detection_cloud_in"         default="radius_outlier_removal/output"/>
 
-  <arg name="far_hole_detection_node_name" default="far_hole_detection"/>
+  <arg name="far_hole_detection_node_name"   default="far_hole_detection"/>
   <arg name="far_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
   
-  <arg name="base_frame_id"                      default="$(arg ns)/base_footprint"/>
+  <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
 
-  <arg name="output" default="screen"/>
+  <arg name="output"        default="screen"/>
   <arg name="launch_prefix" default=""/>
 
 <!-- *******************  OBSTACLE DETECTION  **********************************  -->
@@ -48,13 +49,13 @@
   </group>
 
   <include file="$(find iri_average_point_cloud)/launch/nodelet.launch">
-    <arg name="ns" value="$(arg ns_nav3d)"/>
+    <arg name="ns"        value="$(arg ns_nav3d)"/>
     <arg name="node_name" value="$(arg average_node_name)"/>
     <arg name="camera_nodelet_manager" value="$(arg obstacle_nodelet_manager)"/>
-    <arg name="config_file" value="$(arg average_config_file)"/>
-    <arg name="output" value="$(arg output)"/>
+    <arg name="config_file"   value="$(arg average_config_file)"/>
+    <arg name="cloud_in"      value="$(arg average_cloud_in)"/>
+    <arg name="output"        value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
-    <arg name="cloud_in" value="$(arg camera_cloud_in)_throttle"/>
   </include>
 
   <group ns="$(arg ns_nav3d)">