turtlebot3_slam_3d.launch

<launch>
  <arg name="use_zed"         default="true"  doc="Set to false when using Intel Realsense D435"/>
  <arg name="visual_odom"     default="false" doc="Use ZED visual odometry"/>
  <arg name="rviz"            default="true"/>

  <arg     if="$(arg visual_odom)" name="input_odom"  default="/stereo_camera/odom"/>
  <arg unless="$(arg visual_odom)" name="input_odom"  default="/odom"/>

  <!-- CAMERA -->
  <include if="$(arg use_zed)" file="$(find turtlebot3_slam_3d)/launch/turtlebot3_zed_bringup.launch">
    <arg name="visual_odom" value="$(arg visual_odom)"/>
  </include>
  <include unless="$(arg use_zed)" file="$(find turtlebot3_slam_3d)/launch/turtlebot3_d435_bringup.launch"/>

  <!-- RTABMAP -->
  <!--<include file="$(find turtlebot3_slam_3d)/launch/rtabmap.launch">
    <arg name="use_zed"    value="$(arg use_zed)"/>
    <arg name="input_odom" value="$(arg input_odom)"/>
    <arg name="rviz"       value="false"/>
  </include>-->

  <!-- DARKNET -->
  <include file="$(find turtlebot3_slam_3d)/launch/darknet.launch">
    <arg name="use_zed" value="$(arg use_zed)"/>
  </include>

  <!-- RVIZ -->
  <!--<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz"
	args="-d $(find turtlebot3_slam_3d)/config/yolo.rviz" />-->

</launch>