launchfiles/mapping-simple.launch at master · dudasdavid/launchfiles · GitHub

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<?xml version="1.0"?>
<launch>

  <node pkg="tf" type="static_transform_publisher" name="laser" args="0 0 0 0 ${pi} 0 base_link laser 100" />

  <node pkg="urg_node" type="urg_node" name="urg_node" args="/dev/ttyACM0"/>

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

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="base_link"/>
    <param name="output_timing" value="false"/>
    <param name="use_tf_scan_transformation" value="false"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="scan_topic" value="scan"/>
    <!-- Map size / start point -->
    <param name="map_resolution" value="0.025"/>
    <param name="map_size" value="2048"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <!--param name="laser_z_min_value" value="-2.5" /-->
    <!--param name="laser_z_max_value" value="3.5" /-->
    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.7" />
    <param name="map_update_distance_thresh" value="0.6"/>
    <param name="map_update_angle_thresh" value="0.9" />
    <param name="pub_map_odom_transform" value="true"/>
    <param name="pub_drawings" value="true"/>
    <param name="pub_debug_output" value="true"/>
  </node>

</launch>