~mrol-dev/mrol/trunk

<launch>

 

  <!--/* ex: set ft=xml tw=0 nowrap: */ ~-->

  <node pkg="rviz" type="rviz" name="rviz"

  args="-d $(find mrol_mapping)/etc/Kinect_demo_config2.vcg"

  />

  <node pkg="rxtools" type="rxconsole" name="rxconsole" />

  <node pkg="mrol_mapping"

          type="Kinect_mapper_demo.py" name="Kinect_mapper_demo"

          output="screen">

    <!--param name="resolution" value="0.02" /-->

    <!--param name="min_overlap" value="0.50" /-->

    <!--param name="mrol_levels" value="4" /-->

    <!--param name="out_map_topic" value="/mrol" /-->

    <!--param name="~max_range" value="4.0" /-->

  </node>

  <param name="/use_sim_time" value="true" />

  <node pkg="rosbag" type="rosbag" name="rosbaginput"

      args="play --clock $(env HOME)/to/benchmarking_dataset/rgbd_dataset_freiburg2_large_with_loop.orig.bag" />

  <!--

node pkg="rosbag" type="rosbag" name="rosbaginput"

      args="play clock $(find mrol_mapping)/data/mrol.in.3.bag" /

-->

  

 

</launch>