demo_backpack_wood_car_2d_localization.launch

gistfile1.txt

<launch>
  <param name="/use_sim_time" value="true" />

  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/wood_car.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" >
    <remap from="/tf" to="/carto/tf" />
  </node>

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename wood_car_2d_localization.lua
          -load_state_filename $(arg load_state_filename)"
      output="screen">
    <remap from="imu" to="/imu/data" />
    <remap from="odom" to="/carto/odom" />
    <remap from="scan_1" to="/scan_1" />
    <remap from="scan_2" to="/scan_2" />
    <remap from="/tf" to="/carto/tf" />

  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" >
        <remap from="/robot_pose" to="/carto/robot_pose" />
  </node>

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" >
      <remap from="/tf" to="/carto/tf" />
  </node>

  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>