33 lines
1.2 KiB
XML
Executable File
33 lines
1.2 KiB
XML
Executable File
<launch>
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<arg name="IS_TWISTSTAMPED" default="true" />
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<arg name="use_rviz" default="true" />
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<arg name="publish_covariance" default="false"/>
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<param name="/use_sim_time" value="true"/>
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<param name="/stamped_vel" value="$(arg IS_TWISTSTAMPED)"/>
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<group if="$(arg use_rviz)">
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<node pkg="rviz" type="rviz" name="rviz"
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args="-d $(find laser_scan_matcher)/demo/matcher.rviz"/>
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</group>
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#### start the laser_scan_matcher ##############################
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<group if="$(arg publish_covariance)">
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<param name="laser_scan_matcher_node/do_compute_covariance" value="1"/>
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<param name="laser_scan_matcher_node/publish_pose_with_covariance" value="true"/>
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<param name="laser_scan_matcher_node/publish_pose_with_covariance_stamped" value="true"/>
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</group>
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<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
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name="laser_scan_matcher_node" output="screen">
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<param name="fixed_frame" value = "odom"/>
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<param name="base_frame" value = "base_link"/>
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<param name="max_iterations" value="10"/>
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<param name="use_imu" value="false"/>
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<param name="use_odom" value="false"/>
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<remap from="scan" to="iris_0/scan"/>
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<remap from="pose2D" to="iris_0/pose2D"/>
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</node>
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</launch>
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