- <launch>
- <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>
- <node name="laser_odom_node" pkg="laser_odom" type="laser_odom_node" output="screen" />
- <!-- <param name="use_sim_time" value="true" /> -->
- <!-- <node pkg="rosbag" type="play" name="player" output="log" args="-start 0 -clock /home/mj/karto_slam/ros_yfm.bag"/> -->
-
- <!-- IntelResearchLab ros_yfm Intel_Research_Lab MIT_Killian_Court -->
- </launch>
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