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17 lines
694 B
XML
17 lines
694 B
XML
<launch>
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<param name="use_sim_time" value="true"/>
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<node name="lidar_undistortion_2d_node" pkg="lidar_undistortion_2d" type="lidar_undistortion_2d_node">
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<param name="scan_sub_topic" value="/scan"/>
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<param name="scan_pub_topic" value="/scan_undistortion"/>
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<param name="enable_pub_pointcloud" value="true"/>
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<param name="pointcloud_pub_topic" value="/pointcloud_undistortion"/>
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<param name="lidar_frame" value="laser_link"/>
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<param name="odom_frame" value="odom"/>
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<param name="lidar_scan_time_gain" value="1.0"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find lidar_undistortion)/launch/racecar_full.rviz"/>
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</launch>
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