<launch>
	
 <!--	launch kinect sensor -->
<include file="$(find openni_camera)/launch/openni_node.launch"/>
  

  <!-- run hand detection -->
  <node pkg="hand_interaction" type="detectskelhands" name="handdetector"  output="screen"  >
  </node>
	
	
<!-- This reduces the point cloud resolution to 320x240, for fast hand segmentation... -->
	<node pkg="dynamic_reconfigure" type="dynparam" name="ressetter" args="set /openni_camera point_cloud_resolution 1" />
	
<!-- This node has to be launched after the openni_kinect nodes, so a sleep(10) was added to the code... -->
   <node pkg="skeletal_tracker" type="tracker" name="skel_tracker"  output="screen" respawn="true" >
  </node>	  
	
  
<!--  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hand_interaction)/handdetection.vcg" /> --> 
  
</launch>
