teste.launch

<?xml version="1.0"?>
<launch>
 
 <node pkg="teste" type="teste_node" name="ListenerTalker" output="screen"/>
 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0.2 0 0.25 0 0 0 base_link camera_link 10" />
 <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="-2 -2 0 0 0 0 odom map 10" />
 <node pkg="rviz" type="rviz" name="rviz"/>
 <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
        args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
    <param name="scan_height" value="10"/>
    <param name="output_frame_id" value="/camera_depth_frame"/>
    <param name="range_min" value="0.4"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="/scan"/>

  </node>
</launch>