launch commands and fix node type

README.md

@@ -75,3 +75,21 @@ The relevant ones are
 ```sh
 roslaunch biodigitalmatter_ros bringup.launch rgbd_camera:=D435i
 ```
+
+## Launch setups
+
+### Kaolin on robot
+
+### Kaolin
+
+```bash
+ROS_MASTER_URI=http://cook.local:11311/ mon launch biodigitalmatter_ros
+bringup.launch no_robots:=true rgbd_oak_model:=OAK-D-PRO no_rgb:=true
+no_record:=true
+```
+
+### Cook
+
+```bash
+ROS_MASTER_URI=http://cook.local:11311 mon launch biodigitalmatter_ros bringup.launch no_rgbd:=true no_rrc:=true rgb_pw:=MASKED
+```

launch/bringup.launch

@@ -30,7 +30,7 @@
         args="--all --publish --output-prefix=$(env HOME)/rosbags/$(optenv HOSTNAME no_env_hostname) --split
     --duration=2h --lz4"
         unless="$(arg no_record)" />
-    <node name="store_pointclouds" pkg="pcl_ros" type="pointcloud">
+    <node name="store_pointclouds" pkg="pcl_ros" type="pointcloud_to_pcd">
         <remap from="input" to="/points" />
         <param name="fixed_frame" value="world" />
         <param name="prefix" value="$(env HOME)/pcds/" />