Added a new argument to choose the navigation camera to use.

config/lidar_angle_filter_config.yaml

 n_pairs: 0
+ranges:
+  - range1

launch/3d_nav_map.launch

@@ -5,6 +5,7 @@
   <arg name="name"                    default="ana"/>
 
   <arg name="use_3d_nav_nodelets"     default="true"/>
+  <arg name="nav_camera"              default="nav_cam"/>
 
   <arg name="path"                    default="$(find iri_ana_rosnav)/params"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
@@ -30,6 +31,7 @@
     <arg name="output"        value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
     <arg name="use_nodelets"  value="$(arg use_3d_nav_nodelets)"/>
+    <arg name="nav_camera"    value="$(arg nav_camera)"/>
   </include>
 
   <include file="$(find iri_ana_rosnav)/launch/nav_map.launch">

launch/3d_nav_nomap.launch

@@ -5,6 +5,7 @@
   <arg name="name"                    default="ana"/>
 
   <arg name="use_3d_nav_nodelets"     default="true"/>
+  <arg name="nav_camera"              default="nav_cam_top"/>
 
   <arg name="path"                    default="$(find iri_ana_rosnav)/params"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
@@ -30,6 +31,7 @@
     <arg name="output"        value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
     <arg name="use_nodelets"  value="$(arg use_3d_nav_nodelets)"/>
+    <arg name="nav_camera"    value="$(arg nav_camera)"/>
   </include>
 
   <include file="$(find iri_ana_rosnav)/launch/nav_nomap.launch">

launch/include/3d_nav.launch

@@ -5,6 +5,7 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="use_nodelets" default="true"/>
+  <arg name="nav_camera" default="nav_cam"/>
 
   <include file="$(find iri_rosnav)/launch/include/3d_nav_lidar.launch">
     <arg name="ns" value="ana"/>
@@ -26,7 +27,7 @@
     <arg name="use_nodelets" value="$(arg use_nodelets)"/>
     <arg name="obstacle_nodelet_manager" value="obstacle_nodelet_manager" />
     <arg name="hole_nodelet_manager" value="hole_nodelet_manager" />
-    <arg name="camera_cloud_in" value="sensors/nav_cam/depth_registered/points"/>
+    <arg name="camera_cloud_in" value="sensors/$(arg nav_camera)/depth_registered/points"/>
     <arg name="average_node_name" value="average_point_cloud"/>
     <arg name="average_config_file" value="$(find iri_ana_rosnav)/config/camera_average_filter_config.yaml"/>
     <arg name="normals_node_name" value="obstacle_detection_normals"/>