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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="/use_sim_time" value="true" />
<include file="$(find turtlebot_navigation
)/launch/includes/gmapping.launch.xml" />
<node name="squash_depth_camera" pkg="depthimage_to_laserscan"
type="depthimage_to_laserscan">
<remap from="image" to="/camera/depth/image_raw" />
</node>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_turtlebot
)/configuration_files/demo_turtlebot.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>
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