direct_lidar_odometry/launch/dlo.launch

<!--

  Copyright (c) 2021, University of California, Los Angeles

  Authors: Kenny J. Chen, Brett T. Lopez
  Contact: kennyjchen@ucla.edu, btlopez@ucla.edu

-->

<launch>

  <arg name="robot_namespace" default="robot"/>

  <arg name="pointcloud_topic" default="rslidar_points"/>
  <arg name="imu_topic" default="imu_data"/>

  <!-- DLO Odometry Node -->
  <node ns="$(arg robot_namespace)" name="dlo_odom" pkg="direct_lidar_odometry" type="dlo_odom_node" output="screen" clear_params="true">

    <!-- Load parameters -->
    <rosparam file="$(find direct_lidar_odometry)/cfg/dlo.yaml" command="load"/>
    <rosparam file="$(find direct_lidar_odometry)/cfg/params.yaml" command="load"/>

    <!-- Subscriptions -->
    <remap from="~pointcloud" to="$(arg pointcloud_topic)"/>
    <remap from="~imu" to="$(arg imu_topic)"/>

    <!-- Publications -->
    <remap from="~odom" to="dlo/odom_node/odom"/>
    <remap from="~kfs" to="dlo/odom_node/odom/keyframe"/>
    <remap from="~keyframe" to="dlo/odom_node/pointcloud/keyframe"/>

  </node>

  <!-- DLO Mapping Node -->
  <node ns="$(arg robot_namespace)" name="dlo_map" pkg="direct_lidar_odometry" type="dlo_map_node" output="screen" clear_params="true">

    <!-- Load parameters -->
    <rosparam file="$(find direct_lidar_odometry)/cfg/dlo.yaml" command="load"/>

    <!-- Subscriptions -->
    <remap from="~keyframes" to="dlo/odom_node/pointcloud/keyframe"/>

    <!-- Publications -->
    <remap from="~map" to="dlo/map_node/map"/>

  </node>



  <!-- RViz -->
  <node pkg="rviz" type="rviz" name="dlo_rviz" args="-d $(find direct_lidar_odometry)/launch/dlo.rviz"/>





</launch>