part2.launch

<launch>

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map"/>
<param name="base_frame" value="base_frame"/>
<param name="odom_frame" value="base_frame"/>

<node pkg="tf" type="static_transform_publisher" name="base_2_laser_link" args="0 0 0 0 0 0 /base_frame /openni_camera 100"/>

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>

<include file="$(find hector_mapping)/launch/mapping_default.launch"/> <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>

</launch>