try_2d_localization.launch

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

  <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 keylo_mapping)/launch/carto
          -configuration_basename keylo_r2000_localization.lua
          -map_filename $(arg map_filename)"
      output="screen">
  <remap from="scan" to="scan_filtered" /> 
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

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

</launch>