agv_navigation_ws/turn_on_robot/launch/laser_odom_start.launch

<launch>
    <param name="use_sim_time" value="true" />          <!-- 使用仿真时间 -->
    <node pkg="slam_hdl_graph" type="odom_laser_node" name="odom_laser" output="log" >
        <rosparam command="load" file="$(find slam_hdl_graph)/config/scan_match.yaml" />
    </node>
    <node pkg="slam_hdl_graph" type="slam_hdl_graph_node" name="slam_hdl_graph" output="screen" />
    <node pkg="slam_hdl_graph" type="laser2cloud_node" name="laser2cloud" output="screen" />
    <node pkg="hdl_graph_slam" type="map2odom_publisher.py" name="map2odom_publisher"  output="screen"/>

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find slam_hdl_graph)/rviz/hdl_graph_slam.rviz"/>
    <node pkg="rosbag" type="play" name="player" output="screen" args="--clock /home/mj/agv_slam/point_cloud_data/ros_yfm.bag"/>       
</launch>