43 lines
1.6 KiB
XML
43 lines
1.6 KiB
XML
<!--
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Copyright 2016 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<launch>
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<param name="/use_sim_time" value="true" />
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<param name="robot_description"
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textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node name="cartographer_node" pkg="cartographer_ros"
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type="cartographer_node" args="
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-configuration_directory $(find cartographer_ros)/configuration_files
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-configuration_basename backpack_2d_localization.lua
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-map_filename $(arg map_filename)"
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output="screen">
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<remap from="echoes" to="horizontal_laser_2d" />
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</node>
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<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
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<node name="rviz" pkg="rviz" type="rviz" required="true"
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args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
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<node name="playbag" pkg="rosbag" type="play"
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args="--clock $(arg bag_filename)" />
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</launch>
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