Add rviz and simtime to gRPC launch file. (#658)

2018-01-10 17:44:13 +01:00 · 2018-01-10 17:44:13 +01:00 · 31655ba1cb
parent 02ed0153d1
commit 31655ba1cb
1 changed files with 4 additions and 0 deletions
--- a/cartographer_ros/launch/grpc_demo_backpack_2d.launch
+++ b/cartographer_ros/launch/grpc_demo_backpack_2d.launch
@ -15,6 +15,8 @@
 -->

 <launch>
+  <param name="/use_sim_time" value="true" />
+
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />

@ -37,4 +39,6 @@

  <node name="playbag" pkg="rosbag" type="play"
        args="--clock $(arg bag_filename)" />
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
 </launch>