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[ros_wild_thumper.git] / launch / cartographer.launch
1 <?xml version="1.0"?>
2 <launch>
3         <param name="/use_sim_time" value="true" />
4
5         <param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
6
7         <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
8
9         <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args="-configuration_directory $(find wild_thumper)/config -configuration_basename cartographer.lua" output="screen">
10         </node>
11
12         <node name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
13         <node name="playbag" pkg="rosbag" type="play" args="--clock $(arg bag_filename)" />
14 </launch>