agv_ros_ws/slam/launch/karto_slam.launch

<!--
Provides a reasonable set of parameters for running Karto on a robot
Assumes an 'odom_combined' frame, that provides reasonably accurate odometry
-->

<launch>
  <node pkg="slam_karto" type="slam_karto" name="slam_karto" output="screen">
    <!-- <remap from="scan" to="base_scan"/>
    <param name="odom_frame" value="odom_combined"/>
    <param name="map_update_interval" value="25"/> -->
    <param name="resolution" value="0.02"/>
  </node>
</launch>