rosbag_and_rviz.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>

  <arg name="output"        default="screen"/>
  <arg name="rviz"            default="true"/>
  <arg name="map"            default="false"/>
  <arg name="rviz_cfg"   default="$(find iri_collision_manager)/rviz/dogs.rviz"/>
  <arg name="rosbag_dir"   default="$(find iri_collision_manager)/rosbag/"/>
  <arg name="rosbag_file"   default="ref.bag"/>
  <param name="/use_sim_time" value="true" />
  <arg name="factor"            default="1"/>
  <arg name="sec"        	default="0"/>
  <arg name="map_file"     default="$(find iri_collision_manager)/rosbag/map/map.bag.yaml"/>

  <node name="player_iri_landmarks_tracker"
        pkg ="rosbag"
        type="play"
        output="$(arg output)"
        args="--clock -r $(arg factor) -s $(arg sec) --pause $(arg rosbag_dir)$(arg rosbag_file)">
  </node>

  <node name="rviz_iri_collision_manager"
        pkg ="rviz"
        type="rviz"
        if  ="$(arg rviz)"
        args="-d $(arg rviz_cfg)">
  </node>

  <node name="map_server"
	pkg="map_server"
	type="map_server"
	if="$(arg map)"
	args="$(arg map_file)">
  </node>
</launch>