From 31655ba1cbbd80a590e0c17fd22d3f3eeff8f7d4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= <cschuet@google.com>
Date: Wed, 10 Jan 2018 17:44:13 +0100
Subject: [PATCH] Add rviz and simtime to gRPC launch file. (#658)

---
 cartographer_ros/launch/grpc_demo_backpack_2d.launch | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/cartographer_ros/launch/grpc_demo_backpack_2d.launch b/cartographer_ros/launch/grpc_demo_backpack_2d.launch
index 7fb65d7..b8bf583 100644
--- 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>