README.md

@@ -9,6 +9,14 @@ In addition to the Kobuki sensors, the TurtleBot 2 has a Kinect-like RGBD sensor
 We have two types of RGBD sensors, the first one is the Intel RealSense (turtle03-7) and the second is the Orbex Astra (turtle01-2).
 Note that both the size of the image and its quality differ, the Astra has higher resolution and better quality.
 
+## Acknowledgment
+
+Preparation of the course materials was partially supported by:
+
+<table align="center"><tr><td align="center" width="9999">
+<img src="fig/NPO-publicity-logo_crop.png" align="center" width="60%" alt="Project icon">
+</td></tr></table>
+
 ## Installation
 
  - For majority of courses the installation is not needed, the package is already installed in the singularity container.

launch/bringup_realsense_D435.launch

@@ -2,5 +2,9 @@
     <param name="turtlebot_camera" value="d435" />
     <include file="$(find robolab_turtlebot)/launch/bringup.launch"/>
     <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
+        <arg name="depth_width"         value="640"/>
+        <arg name="depth_height"        value="480"/>
+        <arg name="color_width"         value="640"/>
+        <arg name="color_height"        value="480"/>
     </include>
 </launch>