30 lines
1.1 KiB
XML
Executable File
30 lines
1.1 KiB
XML
Executable File
<!--
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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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<node name="cartographer_node" pkg="cartographer_ros"
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type="cartographer_node" args="
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-configuration_directory $(find cartographer_ros)/configuration_files
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-configuration_basename taurob_tracker.lua"
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output="screen">
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<remap from="scan" to="/spin_laser/scan" />
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<remap from="imu" to="/imu/data" />
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</node>
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<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
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type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
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</launch>
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