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@wohe @SirVer @damonkohler
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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.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<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>
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