agv_navigation_ws/turn_on_robot/launch/mapping_start.launch

<launch>
    <arg name="mapping_algorithm" default="karto" doc="option: karto(grid map), hdl_graph(point cloud map)"/>

    <group if="$(eval mapping_algorithm == 'hdl_graph')">
        <param name="use_sim_time" value="true" />          <!-- 使用仿真时间 -->
        <node pkg="slam_hdl_graph" type="odom_laser_node" name="odom_laser" output="log" >
            <rosparam command="load" file="$(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"/>       
    </group>

    <group if="$(eval mapping_algorithm == 'karto')">
        <node pkg="slam_karto" type="slam_karto" name="slam_karto" output="screen">
            <rosparam command="load" file="$(find slam_karto)/config/mapper_params.yaml" />
        </node>
        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find slam_karto)/rviz/hdl_graph_slam.rviz"/>  
        <!-- <node pkg="slam_karto" type="TF_pub" name="TF_pub" output="screen"> </node> -->
        <param name="use_sim_time" value="true" />  
        <node pkg="rosbag" type="play" name="player" output="log" args="--start 0 --clock /home/mj/karto_slam/MIT_Killian_Court.bag"/>
    </group>
</launch>