laser_scan_matcher.launch

<!-- 
Example launch file: launches the scan matcher with pre-recorded data
-->

<launch>
  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find laser_scan_matcher)/demo/demo.rviz"/>


  <!-- params from http://wiki.ros.org/laser_scan_matcher?distro=fuerte -->
  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">

    <!-- Topics -->
    <remap from="scan" to="scan"/>
    <remap from="cloud" to="/camera/depth/points"/>
    <remap from="imu/data" to="imu/data_compass"/>
    <remap from="odom" to="odom"/>
    <remap from="vel" to="/mobile_base_controller/cmd_vel" />

    <!-- Coordinate frames -->
    <param name="fixed_frame" value="world" />
    <param name="base_frame" value="base_link" />

    <!-- Motion prediction -->
    <param name="use_imu" value="true"/>
    <param name="use_odom" value="false"/>
    <param name="use_vel" value="true"/>

    <!-- Point cloud input -->
    <param name="use_cloud_input" value="false"/>
    <param name="cloud_range_min" value="0.4"/>
    <param name="cloud_range_max" value="10.0"/>

    <!-- Key frames -->
    <param name="kf_dist_linear" value="0.1"/>
    <param name="kf_dist_angular" value="0.175"/>

    <!-- Output -->
    <param name="publish_tf" value="true"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_pose_stamped" value="false"/>

    <!-- Scan matching -->
    <param name="max_iterations" value="50"/>
    <param name="max_correspondence_dist" value="0.3"/>
    <param name="max_angular_correction_deg" value="45.0"/>
    <param name="max_linear_correction" value="0.5"/>
    <param name="epsilon_xy" value="0.000001"/>
    <param name="epsilon_theta" value="0.000001"/>
    <param name="outliers_maxPerc" value="0.90"/>


  </node>

</launch>