backpack_3d.launch

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  Copyright 2016 The Cartographer Authors

  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.
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       http://www.apache.org/licenses/LICENSE-2.0

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  distributed under the License is distributed on an "AS IS" BASIS,
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<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/backpack_3d.urdf" />

  <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 cartographer_ros)/configuration_files
          -configuration_basename backpack_3d.lua"
      output="screen">
    <remap from="points2_1" to="horizontal_laser_3d" />
    <remap from="points2_2" to="vertical_laser_3d" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>