sensor_manager.launch.xml

<launch>

  <!-- This file makes it easy to include the settings for sensor managers -->

  <!-- Params for 3D sensors config -->
  <rosparam command="load" file="$(find robot2_moveit_config)/config/sensors_3d.yaml" />

  <!-- Params for the octomap monitor -->
  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
  <param name="octomap_resolution" type="double" value="0.05" />
  <param name="max_range" type="double" value="1.5" />
  <param name="octomap_frame" type="string" value="camera_depth_optical_frame" />
  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="abb_irb120" />
  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

</launch>