KEPRI_Robotics_Student/setting.xml at master · Barleysack/KEPRI_Robotics_Student · GitHub

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<?xml version="1.0"?>
   <launch>
      <param name="/use_sim_time" value="false" />
      <node name="cartographer_node"
            pkg="cartographer_ros"
            type="cartographer_node"
            args="-configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename cartographer.lua"
            output="screen">
      </node>
      <node name="cartographer_occupancy_grid_node"
            pkg="cartographer_ros"
            type="cartographer_occupancy_grid_node" />
      <node name="robot_pose_publisher"
            pkg="robot_pose_publisher"
            type="robot_pose_publisher"
            respawn="false"
            output="screen" />
      <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 1 base_link laser_frame 20" />
      <node pkg="tf" type="static_transform_publisher" name="base_to_laser_frame_broadcaster" args="0 0 0 0 0 0 1 base_link laser 20" />
      <node pkg="tf" type="static_transform_publisher" name="base_to_fcu_broadcaster" args="0 0 0 0 0 0 base_link fcu 1" />
      <node pkg="tf" type="static_transform_publisher" name="base_to_basefoot_broadcaster" args="0 0 0 0 0 0 base_link base_footprint 1"  />

      <node pkg="tf" type="static_transform_publisher" name="base_to_map_broadcaster" args="0 0 0 0 0 0 map base_footprint 1" />
	<node pkg="tf" type="static_transform_publisher" name="local_to_fcu_broadcaster" args="0 0 0 0 0 0 local_origin fcu 1" />
	<node pkg="tf" type="static_transform_publisher" name="local_ned_to_fcu_broadcaster" args="0 0 0 0 0 0 local_origin_ned fcu 1" />


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

   </launch>