fast_lio2_SC/launch/mapping_avia.launch

<launch>
<!-- Launch file for Livox AVIA LiDAR -->

	<arg name="rviz" default="true" />

	<rosparam command="load" file="$(find fast_lio_sam)/config/avia.yaml" />

<!--	feature-based-->
	<param name="feature_extract_enable" type="bool" value="0"/>
<!--	不基于特征，每隔几个点保存一个用于配准-->
	<param name="point_filter_num" type="int" value="3"/>
	<param name="max_iteration" type="int" value="3" />
<!--	单帧内，畸变纠正后降采样的分辨率-->
	<param name="filter_size_surf" type="double" value="0.5" />
	<param name="filter_size_map" type="double" value="0.5" />
	<param name="cube_side_length" type="double" value="1000" />
	<param name="runtime_pos_log_enable" type="bool" value="0" />
    <node pkg="fast_lio_sam" type="fastlio_sam_mapping" name="laserMapping" output="screen" /> 

	<group if="$(arg rviz)">
	<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio_sam)/rviz_cfg/loam_livox.rviz" />
	</group>

</launch>