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Fernando Herrero authoredFernando Herrero authored
node.launch 889 B
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="ns" default="ana"/>
<arg name="node_name" default="lidar_obstacle_detector"/>
<arg name="config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<group ns="$(arg ns)">
<node pkg ="iri_lidar_obstacle_detector"
type="iri_lidar_obstacle_detector"
name="$(arg node_name)"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="~pointcloud_in" to="$(arg cloud_in)"/>
<rosparam file="$(arg config_file)" command="load"/>
<param name="base_frame_id" value="$(arg base_frame_id)"/>
</node>
</group>
</launch>