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diffcart_3d_cartographer.launch
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diffcart_3d_cartographer.launch
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<?xml version="1.0"?>
<launch>
<param name="/use_sim_time" value="true" />
<node name="gazebo" pkg="gazebo_demos" type="bringup_gazebo.sh" args="$(find gazebo_demos)/worlds/diffcart_willowgarage.world" output="screen"/>
<node pkg="tf" type="static_transform_publisher" name="laser_base_link_transform" args="0 0 0 0 0 0 base_link laser_link 100" />
<node pkg="tf" type="static_transform_publisher" name="imu_base_link_transform" args="0 0 0 0 0 0 base_link imu_link 100" />
<!-- cartographer_node -->
<node pkg="cartographer_ros" type="cartographer_node" name="cartographer_node"
args="-configuration_directory $(find gazebo_demos)/config
-configuration_basename diffcart_3d.lua"
output="screen">
<remap from="imu" to="/imu_data"/>
<remap from="points2" to="/point_cloud"/>
</node>
<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find gazebo_demos)/rviz/demo_3d.rviz"/>
</launch>