hdl_graph_slam/launch/start.launch

<launch>
    <node pkg="hdl_graph_slam" type="laser_odom" name="laser_odom" output="screen" />
    <node pkg="hdl_graph_slam" type="hdl_backend" name="hdl_backend" output="screen" />
    <node pkg="hdl_graph_slam" type="laser2cloud" name="laser2cloud" output="screen" />

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find hdl_graph_slam)/rviz/hdl_graph_slam.rviz"/>  

    <!-- 使用仿真时间 -->
    <param name="use_sim_time" value="true" />
    <!-- 回放rosbag文件 -->
    <node pkg="rosbag" type="play" name="player" output="log" args="--clock /home/mj/hdl_slam/ros_yfm.bag"/>
    <!-- <node pkg="rosbag" type="play" name="player" output="screen" args="-clock /home/mj/hdl_slam/hdl_400.bag"/> -->
    
    <!-- /home/mj/hdl_slam/hdl_400.bag        /home/mj/hdl_slam/ros_yfm.bag    -->
    <node pkg="hdl_graph_slam" type="map2odom_publisher.py" name="map2odom_publisher"  output="screen"/>

</launch>