compression.launch

<launch>

  <include file="$(find pointcloud_to_rangeimage)/launch/VLP-32C_driver.launch" />

  <node pkg="rosbag" type="play" name="velodyne_rosbag" args="--clock -r 0.005 /catkin_ws/rosbags/evaluation_frames.bag"/>
  
  <!-- Load parameter from YAML file; subst_value="True"->you can use *find* in yaml-file -->
  <rosparam command ="load" file="$(find pointcloud_to_rangeimage)/params/pointcloud_to_rangeimage.yaml" subst_value="True"/>

  <node
    name="pointcloud_to_rangeimage_node"
    pkg="pointcloud_to_rangeimage"
    type="pointcloud_to_rangeimage_node"
    output="screen"		>
  </node>

  <node
    name="compression_encoder_node"
    pkg="pointcloud_to_rangeimage"
    type="compression_encoder.py"
    output="screen"		>
  </node>

  <node
    name="compression_decoder_node"
    pkg="pointcloud_to_rangeimage"
    type="compression_decoder.py"
    output="screen"		>
  </node>

  <node
    name="rangeimage_to_pointcloud_node"
    pkg="pointcloud_to_rangeimage"
    type="rangeimage_to_pointcloud_node"
    output="screen"		>
  </node>

  <node
    name="snnrmse"
    pkg="snnrmse"
    type="snnrmse_node.py"
    output="screen"		>
    <remap to="/velodyne_points" from="/points2"/> 
    <remap to="/rangeimage_to_pointcloud_node/pointcloud_out" from="/decompressed"/>
  </node>

  <node
    name="rqt_graph"
    pkg="rqt_graph"
    type="rqt_graph"
    output="screen"		>
  </node>

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

</launch>