From e274c392db93acfdf18ed19c6533ba716ed5d45a Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Fri, 7 Feb 2025 20:48:51 +0900
Subject: [PATCH] [spot] publish compressed hand_depth_in_hand_color_frame
 topic

---
 jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
index 14f94a414a..df152b1d40 100644
--- a/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
+++ b/jsk_spot_robot/jsk_spot_startup/launch/include/driver.launch
@@ -101,6 +101,8 @@
 	args="raw in:=/spot/camera/hand_color/image compressed out:=/spot/camera/hand_color/image" />
   <node pkg="image_transport" type="republish" name="hand_depth_compress"
 	args="raw in:=/spot/camera/hand_depth/image compressedDepth out:=/spot/camera/hand_depth/image" />
+  <node pkg="image_transport" type="republish" name="hand_depth_in_color_frame_compress"
+        args="raw in:=/spot/camera/hand_depth_in_hand_color_frame/image compressedDepth out:=/spot/camera/hand_depth_in_hand_color_frame/image" />
 
   <node pkg="image_transport" type="republish" name="frontleft_compress"
 	args="raw in:=/spot/camera/frontleft/image compressed out:=/spot/camera/frontleft/image" />