29 lines
1.1 KiB
Plaintext
29 lines
1.1 KiB
Plaintext
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<!--
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Copyright 2016 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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<launch>
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<arg name="config_file" default="assets_writer_backpack_2d.lua"/>
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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 $(arg config_file)
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-urdf_filename $(find cartographer_ros)/urdf/backpack_2d.urdf
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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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