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Adding option to launch without rviz, similar to 2d case (#972)

master
Sebastian Klose 2018-08-08 14:32:03 +02:00 committed by Wally B. Feed
parent 41c74de649
commit 55e83c39a5
1 changed files with 10 additions and 6 deletions
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16
cartographer_ros/launch/offline_backpack_3d.launch
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@ -15,10 +15,16 @@
-->
<launch>
<arg name="no_rviz" default="false"/>
<param name="/use_sim_time" value="true" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
<group unless="$(arg no_rviz)">
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</group>
<node name="cartographer_offline_node" pkg="cartographer_ros"
type="cartographer_offline_node" args="
@ -26,11 +32,9 @@
-configuration_basenames backpack_3d.lua
-urdf_filenames $(find cartographer_ros)/urdf/backpack_3d.urdf
-bag_filenames $(arg bag_filenames)"
output="screen">
output="screen"
required="$(arg no_rviz)">
<remap from="points2_1" to="horizontal_laser_3d" />
<remap from="points2_2" to="vertical_laser_3d" />
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>