34 lines
1.4 KiB
Plaintext
34 lines
1.4 KiB
Plaintext
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Copyright 2018 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<!--
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Using this will generate one .pgm and one .yaml file that together
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form the typical occupancy grid ROS map.
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The files will be placed in the same directory of the bag file.
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Remember to change configuration in the lua config_file.
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-->
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<launch>
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<arg name="urdf_filename" default="$(find cartographer_ros)/urdf/backpack_2d.urdf"/>
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<node name="cartographer_assets_writer" pkg="cartographer_ros" required="true"
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type="cartographer_assets_writer" args="
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-configuration_directory $(find cartographer_ros)/configuration_files
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-configuration_basename assets_writer_ros_map.lua
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-urdf_filename $(arg urdf_filename)
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-bag_filenames $(arg bag_filenames)
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-pose_graph_filename $(arg pose_graph_filename)"
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output="screen">
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</node>
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</launch>
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