offline_ouster_3d.launch

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  Copyright 2016 The Cartographer Authors

  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.
  You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

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  distributed under the License is distributed on an "AS IS" BASIS,
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<launch>
  <param name="/use_sim_time" value="true" />
  
      <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/ouster.urdf" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />

  <node name="cartographer_offline_node" pkg="cartographer_ros"
      type="cartographer_offline_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basenames backpack_3d.lua
          -urdf_filenames $(find cartographer_ros)/urdf/ouster.urdf
          -bag_filenames $(arg bag_filenames)"
      output="screen">
    <remap from="points2" to="/os1_cloud_node/points" />
    <remap from="imu" to="/os1_cloud_node/imu" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>