cp_cv_ws/scan_matcher_ICP/scripts/demo_sick.launch

<!--
Example launch file: launches the scan matcher with pre-recorded data
-->

<launch>
  <!-- <arg name="IS_TWISTSTAMPED" default="true" /> -->
  <arg name="use_rviz" default="true" />
  <arg name="publish_covariance" default="false"/>
  #### set up data playback from bag #############################

  <param name="/use_sim_time" value="true"/>
  <!-- <param name="/stamped_vel" value="$(arg IS_TWISTSTAMPED)"/> -->

  <group if="$(arg use_rviz)">
    <node pkg="rviz" type="rviz" name="rviz"
          args="-d $(find scan_matcher_ICP)/scripts/demo.rviz"/>
  </group>

  <!-- <node pkg="rosbag" type="play" name="play"
  args="$(find laser_scan_matcher)/demo/scan1.bag"/> -->

  #### publish an example base_link -> laser transform ###########

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
    args="0.0 0.0 0.0 0.0 0.0 0.0 1.0 /base_link /laser 40" />

  #### start the laser scan_matcher ##############################

  <group if="$(arg publish_covariance)">
    <param name="laser_scan_matcher_node/do_compute_covariance" value="1"/>
    <param name="laser_scan_matcher_node/publish_pose_with_covariance" value="true"/>
    <param name="laser_scan_matcher_node/publish_pose_with_covariance_stamped" value="true"/>
  </group>
  <node pkg="scan_matcher_ICP" type="scan_matcher_ICP_node"
    name="scan_matcher_ICP_node" output="screen">
    <param name="fixed_frame" value="map"/>
    <param name="base_frame" value="base_link"/>
    <param name="max_iterations" value="10"/>
  </node>

</launch>