X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fcartographer.launch;fp=launch%2Fcartographer.launch;h=5c2eb9e16c8d570c14891eb38089b4719fd24700;hp=0000000000000000000000000000000000000000;hb=c7a28da18dcd53f390ef56d892312efef9e1cfab;hpb=65c1790852227f3320af16237514105ad674a17d

diff --git a/launch/cartographer.launch b/launch/cartographer.launch
new file mode 100644
index 0000000..5c2eb9e
--- /dev/null
+++ b/launch/cartographer.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+	<param name="/use_sim_time" value="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+	<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args="-configuration_directory $(find wild_thumper)/config -configuration_basename cartographer.lua" output="screen">
+	</node>
+
+	<node name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
+	<node name="playbag" pkg="rosbag" type="play" args="--clock $(arg bag_filename)" />
+</launch>