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

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

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

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

<!--  <node pkg="grapher" type="grapher_node"-->
<!--        name="grapher_node" output="screen">-->
<!--  </node>-->

  <node pkg="grapher" type="location_node"
    name="location_node" output="screen">
  </node>

</launch>
