localization_test.launch

1. <launch>
  <param name="/use_sim_time" value="true" /> 
  <param name="robot_description" textfile="$(find cartographer_ros)/urdf/test_dyros_model.urdf" /> 

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />    
  
  <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" output="screen" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
           -configuration_basename dyros_settings_test_localization.lua
           -load_state_filename $(arg load_state_filename)">
    
    <remap from="points2" to="velodyne_points" />   
  </node>

  <!-- ed: resolution : higher is bad when you get /map topic data -->
  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <!-- <node name="playbag" pkg="rosbag" type="play"  args="-\-clock $(arg bag_filename) -s 0"/>  -->
</launch>