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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>