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 pkg="hdl_graph_slam" type="tf" name="tf" 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 这个要用,不然会报错:message removed because it is too old  然后忽略数据-->
    <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  /home/mj/hdl_slam/IntelResearchLab.bag  -->
    <node pkg="hdl_graph_slam" type="map2odom_publisher.py" name="map2odom_publisher"  output="screen"/>

  <!-- <node pkg="slam_karto" type="slam_karto" name="slam_karto" output="screen">
    <remap from="scan" to="scan"/>
    <param name="odom_frame" value="odom"/>
    <param name="map_update_interval" value="1"/>
    <param name="resolution" value="0.025"/>
  </node> -->

</launch>