29 lines
1.1 KiB
XML
Executable File
29 lines
1.1 KiB
XML
Executable File
<!--
|
|
Copyright 2016 The Cartographer Authors
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
-->
|
|
|
|
<launch>
|
|
<arg name="config_file" default="assets_writer_backpack_2d.lua"/>
|
|
<node name="cartographer_assets_writer" pkg="cartographer_ros" required="true"
|
|
type="cartographer_assets_writer" args="
|
|
-configuration_directory $(find cartographer_ros)/configuration_files
|
|
-configuration_basename $(arg config_file)
|
|
-urdf_filename $(find cartographer_ros)/urdf/backpack_2d.urdf
|
|
-bag_filenames $(arg bag_filenames)
|
|
-pose_graph_filename $(arg pose_graph_filename)"
|
|
output="screen">
|
|
</node>
|
|
</launch>
|