Added a lñaunch file for the nodelet version.

Improved the launch file of the node.

launch/node.launch

@@ -2,19 +2,21 @@
 <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=""/>
+  <arg name="cloud_in" default="~pointcloud_in"/>
 
   <group ns="$(arg ns)">
 
     <node pkg ="iri_lidar_obstacle_detector"
           type="iri_lidar_obstacle_detector"
-          name="lidar_obstacle_detector"
+          name="$(arg node_name)"
           output="$(arg output)"
           launch-prefix="$(arg launch_prefix)">
       <remap from="~pointcloud_in" to="$(arg cloud_in)"/>
-      <param name="base_frame_id" value="/ana/base_footprint"/>
+      <rosparam file="$(arg config_file)" command="load"/>
     </node>
 
   </group>

launch/nodelet.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="ns" default="ana"/>
+  <arg name="node_name" default="lidar_obstacle_detector"/>
+  <arg name="lidar_nodelet_manager" default="lidar_nodelet_manager"/>
+  <arg name="config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
+  <arg name="output" default="screen"/>
+  <arg name="launch_prefix" default=""/>
+  <arg name="cloud_in" default="~pointcloud_in"/>
+
+  <group ns="$(arg ns)">
+
+    <node name="$(arg node_name)"
+          pkg="nodelet"
+          type="nodelet"
+          args="load iri_lidar_obstacle_detector/LidarObstacleDetectorAlgNodelet $(arg lidar_nodelet_manager)"
+          output="screen">
+      <remap from="~pointcloud_in" to="$(arg cloud_in)"/>
+      <rosparam file="$(arg config_file)" command="load"/>
+    </node>
+
+  </group>
+
+</launch>
+