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<?xml version="1.0"?>
<include file="$(find rplidar_ros)/launch/rplidar.launch" />
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<param name="map_frame" value="map" />
<param name="base_frame" value="laser" />
<param name="odom_frame" value="laser" />
<param name="map_start_x" value="0.5" />
<param name="map_start_y" value="0.5" />
<param name="map_size" value="1024" />
<param name="map_resolution" value="0.025" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_test)/rviz_cfg/mapping_demo.rviz"/>
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