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17 lines
658 B
17 lines
658 B
<launch>
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<!-- Doc: http://wiki.ros.org/octomap_server?distro=kinetic -->
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<arg name="pointcloud_topic" />
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<arg name="base_link" default="base_link" />
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<!-- you can load an exisiting tree with <node ... args="tree.bt"> !-->
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<node pkg="octomap_server" type="octomap_server_node" name="octomap_mapper" >
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<remap from="cloud_in" to="$(arg pointcloud_topic)" />
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<param name="base_frame_id" value="$(arg base_link)" />
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<param name="resolution" value="0.05" />
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<param name="frame_id" type="string" value="map" />
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<param name="sensor_model/max_range" value="3.0" />
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<param name="filter_ground" value="false" />
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</node>
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</launch>
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