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<launch>
<param name="local_xy_frame" value="/far_field"/>
<node pkg="swri_transform_util" type="initialize_origin.py" name="initialize_origin" >
<param name="local_xy_origin" value="swri"/>
<rosparam param="local_xy_origins">
[{ name: swri,
latitude: 29.45196669,
longitude: -98.61370577,
altitude: 233.719,
heading: 0.0},
{ name: back_40,
latitude: 29.447507,
longitude: -98.629367,
altitude: 200.0,
heading: 0.0}]
</rosparam>
</node>
<node pkg="tf" type="static_transform_publisher" name="tf1" args="500 500 0 0 0 0 /far_field /near_field 100" />
<node pkg="tf" type="static_transform_publisher" name="tf2" args="1000 0 0 0 0 0 /far_field /veh_far_field 100" />
<node pkg="tf" type="static_transform_publisher" name="tf3" args="0 0 0 0 0 0 /veh_far_field /veh_near_field 100" />
<node pkg="mapviz" type="mapviz" name="mapviz"/>
</launch>
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