Hector Elevation Mapping launch [closed]

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Hi all!

Currently, I'm trying to figure out how do I use elevation mapping to produce a 2.5D map. In the hector_elevation_mapping package, there is the elevation_mapping.launch and elevation_mapping_node.launch.

elevation_mapping.launch file:

<launch>
  <node pkg="nodelet" type="nodelet" name="elevation_mapping" args="load hector_elevation_mapping/ElevationMapping openni/openni_nodelet_manager" output="screen">
    <remap from="openni/syscommand" to="syscommand" />
    <remap from="openni/scanmatcher_map_metadata" to="scanmatcher_map_metadata" />
    <remap from="elevation_mapping/elevation_map_local" to="elevation_map_local" />
    <remap from="elevation_mapping/elevation_map_local_metadata" to="elevation_map_local_metadata" />
    <remap from="elevation_mapping/elevation_map_global" to="elevation_map_global" />
    <remap from="elevation_mapping/elevation_map_global_metadata" to="elevation_map_global_metadata" />
    <param name="elevation_resolution" value="0.01" />
    <param name="elevation_zero_level" value="16384" />
    <param name="min_observable_elevation" value="-1.0" />
    <param name="max_observable_elevation" value="0.5" />
    <param name="max_observable_distance" value="4.0" /> 
    <param name="sensor_variance" value="0.001" />   
    <param name="map_frame_id" value="map" />
    <param name="local_map_frame_id" value="base_stabilized" />
    <param name="local_elevation_map_topic" value="elevation_map_local" />
    <param name="gloabl_elevation_map_topic" value="elevation_map_global" />
    <param name="point_cloud_topic" value="camera/depth/points_xyz"/>
    <param name="grid_map_topic" value="scanmatcher_map"/>
    <param name="sys_msg_topic" value="syscommand" />
    <param name="publish_poseupdate" value="false" />
    <param name="poseupdate_pub_period" value="1.0" />
    <param name="poseupdate_height_covariance" value="0.25" />
    <param name="poseupdate_used_pattern_size" value="3" />
<!-- Not necessary to set, set by scanmatcher -->
    <!--param name="map_resolution" value="0.05" /-->
    <!--param name="max_grid_size_x" value="1024" /-->
    <!--param name="max_grid_size_y" value="1024" /-->
</node>
</launch>

elevation_mapping_node.launch file:

<launch>
  <node pkg="hector_elevation_mapping" type="ElevationMappingNode" name="ElevationMapping"  output="screen">
    <param name="elevation_resolution" value="0.01" />
    <param name="elevation_zero_level" value="16384" />
    <param name="min_observable_elevation" value="-1.0" />
    <param name="max_observable_elevation" value="0.5" />
    <param name="max_observable_distance" value="4.0" /> 
    <param name="sensor_variance" value="0.001" />   
    <param name="map_frame_id" value="map" />
    <param name="local_map_frame_id" value="base_stabilized" />
    <param name="local_elevation_map_topic" value="elevation_map_local" />
    <param name="gloabl_elevation_map_topic" value="elevation_map_global" />
    <param name="point_cloud_topic" value="camera/depth/points_xyz"/>
    <param name="grid_map_topic" value="scanmatcher_map"/>
    <param name="sys_msg_topic" value="syscommand" />
    <param name="publish_poseupdate" value="false" />
    <param name="poseupdate_pub_period" value="1.0" />
    <param name="poseupdate_height_covariance" value="0.25" />
    <param name="poseupdate_used_pattern_size" value="3" />
<!-- Not necessary to set, set by scanmatcher -->
    <!--param name="map_resolution" value="0.05" /-->
    <!--param name="max_grid_size_x" value="1024" /-->
    <!--param name="max_grid_size_y" value="1024" /-->
</node>
</launch>

Does anyone knows what is the difference between two of them? Seems like they have to same function but just a bit different in the codes.

Also, I'm able to run elevation_mapping_node.launch but not able to run elevation_mapping because the terminal said waiting for openni_nodelet_manager to advertise. I see one problem here, that is I'm using OpenNi2 instead of OpenNI. How do I edit the code so that it syncs with OpenNi2?

Thanks for any help! Greatly appreciated.