example.launch

<?xml version="1.0" ?>
<launch>
    <param name="/use_sim_time" value="true"/>
    <arg name="bag_root" value="$(find cslibs_mapping)/bag"/>
    <arg name="bag_file" value="example.bag" />
    <arg name="bag_args" value="--clock --rate 1.0 -k --pause -q" />

    <group ns="cslibs_mapping">
      <param name="node_rate" value="0.0" />

      <!-- data providers -->
      <group ns="laser">
        <param name="class"             value="cslibs_plugins_data::LaserProvider"/>
        <param name="base_class"        value="cslibs_plugins_data::DataProvider"/>
        <param name="topic"             value="/scan/front/filtered"/>
        <param name="queue_size"        value="10"/>
        <param name="rate"              value="0.0"/>
      </group>
      <group ns="velodyne">
        <param name="class"             value="cslibs_plugins_data::Pointcloud3dProvider"/>
        <param name="base_class"        value="cslibs_plugins_data::DataProvider"/>
        <param name="topic"             value="/velodyne_points"/>
        <param name="queue_size"        value="10"/>
        <param name="rate"              value="0.0"/>
      </group>

      <!-- mappers -->
      <group ns="ondt_2d">
        <param name="class"             value="cslibs_mapping::mapper::OccupancyNDTGridMapper2D"/>
        <param name="base_class"        value="cslibs_mapping::mapper::Mapper"/>
        <rosparam param="data_providers">
                ["laser"]
        </rosparam>
        <rosparam param="map_publishers">
                ["ondt_2d_map"]
        </rosparam>
        <param name="map_frame"         value="/odom"/>
        <param name="resolution"        value="1.0"/>
      </group>
      <group ns="ondt_3d">
        <param name="class"             value="cslibs_mapping::mapper::OccupancyNDTGridMapper3D"/>
        <param name="base_class"        value="cslibs_mapping::mapper::Mapper"/>
        <rosparam param="data_providers">
                ["velodyne"]
        </rosparam>
        <rosparam param="map_publishers">
                ["ondt_3d_pointcloud"]
        </rosparam>
        <param name="map_frame"         value="/odom"/>
        <param name="resolution"        value="1.0"/>
      </group>

      <!-- publishers -->
      <group ns="ondt_2d_map">
        <param name="class"             value="cslibs_mapping::publisher::OccupancyGridPublisher"/>
        <param name="base_class"        value="cslibs_mapping::publisher::Publisher"/>
        <param name="rate"              value="10.0"/>
        <param name="topic"             value="/cslibs_mapping/ondt_2d"/>
        <param name="occupancy"         value="true"/>
      </group>
      <group ns="ondt_3d_pointcloud">
        <param name="class"             value="cslibs_mapping::publisher::PointcloudPublisher"/>
        <param name="base_class"        value="cslibs_mapping::publisher::Publisher"/>
        <param name="rate"              value="10.0"/>
        <param name="topic"             value="/cslibs_mapping/ondt_3d"/>
        <param name="occupancy_ndt"     value="true"/>
      </group>
    </group>

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find cslibs_mapping)/config/example.rviz" required="true"/>
    <node pkg="rosbag" type="play" name="rosbag" args="$(arg bag_args) $(arg bag_root)/$(arg bag_file)" required="true" output="screen"/>

    <node name="cslibs_mapping" pkg="cslibs_mapping" type="cslibs_mapping_node" output="screen" required="true" clear_params="true"/>
</launch>