hector.launch

<?xml version="1.0"?>

<launch>

  <arg name="name" default="scout_1"/>
  <arg name="geotiff_map_file_path" default="$(find hector_geotiff)/maps"/>

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

  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

<!--   <node pkg="tf" type="static_transform_publisher" name="odom_to_base_lnk" args="0 0 0 0 0 0 /odom /$(arg name)_tf/base_footprint 100"/> -->

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

      <!-- Frame names -->
      <param name="map_frame" value="/map" />
      <param name="base_frame" value="/$(arg name)_tf/base_footprint" />
      <param name="odom_frame" value="/odom" />

      <!-- Tf use -->
      <param name="use_tf_scan_transformation" value="true"/>
      <param name="use_tf_pose_start_estimate" value="false"/>
      <param name="pub_map_odom_transform" value="true"/>

      <!-- Map size / start point -->
      <param name="map_resolution" value="0.2"/>
      <param name="map_size" value="2048"/>
      <param name="map_start_x" value="0.5"/>
      <param name="map_start_y" value="0.5" />
      <param name="map_multi_res_levels" value="2" />

      <!-- Map update parameters -->
      <param name="update_factor_free" value="0.4"/>
      <param name="update_factor_occupied" value="0.9" />
      <param name="map_update_distance_thresh" value="0.4"/>
      <param name="map_update_angle_thresh" value="0.06" />
      <param name="laser_z_min_value" value = "-1.0" />
      <param name="laser_z_max_value" value = "1.0" />

      <!-- Advertising config -->
      <param name="advertise_map_service" value="true"/>

      <param name="scan_subscriber_queue_size" value="5"/>
      <param name="scan_topic" value="/$(arg name)/laser/scan"/>

      <!-- Debug parameters -->
      <!--
        <param name="output_timing" value="false"/>
        <param name="pub_drawings" value="true"/>
        <param name="pub_debug_output" value="true"/>
      -->
      <param name="tf_map_scanmatch_transform_frame_name" value="odom_to_base_lnk" />
    </node>

  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
    <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
    <arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>
  </include>

</launch>