<launch>
  <param name="/use_sim_time" value="false" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename demo_sick_location.lua
	-load_state_filename /home/zx/Downloads/map_part3.pbstream"
      output="screen">
	  
  </node>

  <!--<node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />-->

  <!--><--><node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_sick.rviz" />
</launch>
