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rosbag_loop.launch
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rosbag_loop.launch
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<launch>
<rosparam command="load" file="$(find loam_livox)/config/performance_precision.yaml" />
<param name="common/pcd_save_dir" type="string" value="$(env HOME)/Loam_livox" />
<param name="common/log_save_dir" type="string" value="$(env HOME)/Loam_livox" />
<param name="common/loop_save_dir" type="string" value="$(env HOME)/Loam_livox" />
<!--If verbose the screen output-->
<param name="common/if_verbose_screen_printf" type="int" value="1"/>
<param name="loop_closure/if_enable_loop_closure" type="int" value="1"/>
<param name="loop_closure/minimum_keyframe_differen" type="int" value="200"/>
<node pkg="loam_livox" type="livox_scanRegistration" name="livox_scanRegistration">
<remap from="/laser_points_0" to="/livox/lidar" />
</node>
<node pkg="loam_livox" type="livox_laserMapping" name="livox_laserMapping" output="screen" />
<arg name="rviz" default="true" />
<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_livox)/rviz_cfg/rosbag_b.rviz" />
</group>
</launch>