From 39a1f6b0b479d0131aead43fea8a1ef4a6990281 Mon Sep 17 00:00:00 2001
From: y-iwata <y-iwata@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 10 Jan 2024 15:32:18 +0900
Subject: [PATCH 1/2] change depth_registration value from false to true to fix
 the gap between XYZ and color

---
 hironx_tutorial/launch/hironxjsk_real.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/hironx_tutorial/launch/hironxjsk_real.launch b/hironx_tutorial/launch/hironxjsk_real.launch
index 09fa9d7d..9849669c 100644
--- a/hironx_tutorial/launch/hironxjsk_real.launch
+++ b/hironx_tutorial/launch/hironxjsk_real.launch
@@ -5,6 +5,7 @@
   <!-- Start Camera -->
   <include file="$(find openni2_launch)/launch/openni2.launch">
     <arg name="camera" value="head_camera" />
+    <arg name="depth_registration" value="true" />
     <arg name="publish_tf" value="false" />
   </include>
   <!-- Set image_transport_plugins parameters (png_level and disable_pub_plugins) -->

From fe5d5b0c354df502368ca54e3d3fd3cb0b6e7e3a Mon Sep 17 00:00:00 2001
From: y-iwata <y-iwata@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 10 Jan 2024 21:16:58 +0900
Subject: [PATCH 2/2] add description of image transport plugin param for
 hw_registered

---
 .../hironxjsk_image_transport_plugins_params.yaml   | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/hironx_tutorial/config/hironxjsk_image_transport_plugins_params.yaml b/hironx_tutorial/config/hironxjsk_image_transport_plugins_params.yaml
index 57ae1271..91fd43d7 100644
--- a/hironx_tutorial/config/hironxjsk_image_transport_plugins_params.yaml
+++ b/hironx_tutorial/config/hironxjsk_image_transport_plugins_params.yaml
@@ -51,6 +51,19 @@ head_camera:
           - 'image_transport/theora'
         compressedDepth:
           png_level: 5
+    hw_registered:
+      image_rect:
+        disable_pub_plugins:
+          - 'image_transport/compressed'
+          - 'image_transport/theora'
+        compressedDepth:
+          png_level: 5
+      image_rect_raw:
+        disable_pub_plugins:
+          - 'image_transport/compressed'
+          - 'image_transport/theora'
+        compressedDepth:
+          png_level: 5
   ir:
     image:
       disable_pub_plugins: