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Sep 13th, 2014
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  1. <launch>
  2.  
  3.   <param name="/use_sim_time" value="true"/>
  4.  
  5.   <arg name="map_file" default="$(find mapupdate)/maps/world.yaml"/>
  6. <node pkg="tf" type="static_transform_publisher" name="world_to_map"
  7.     args="9.5 5 0 0 0 0 /world /map 40" />
  8.  
  9.  
  10.   <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
  11.   <node pkg="rviz" type="rviz" name="rviz"/>
  12.  
  13. <node pkg="mapupdate" type="Detectchange" name="Detectchange" output="screen"/>
  14.  
  15. </launch>
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