localizer/launch/localizer.launch

<launch>
    <arg name="deskw_point_namespace" default="deskew_point_cloud" />
    <arg name="map_loader_namespace" default="map_loader" />
    <node pkg="localizer" type="localizer_node" name="localizer_node" output="screen">

        <param name="init_pose_topic"           value="/initialpose"/>
        <param name="map_topic"                 value="$(arg map_loader_namespace)/map"/>
        <param name="lidar_topic"               value="$(arg deskw_point_namespace)/filter_points"/>
        <param name="odom_topic"                value="/odom"/>
        <param name="aligned_cloud_topic"       value="/aligned_points"/>
        <param name="localizer_odom_topic"      value="/odom"/>
        <param name="exe_time_topic"            value="/exe_time"/>
        <param name="score_topic"               value="/score"/>
        <param name="diagnostics_topic"         value="/diagnostics"/>
        <param name="trajectory_topic"          value="/path"/>
        <param name="trajectory_aligned_topic"  value="/aligned_path"/>
        <param name="localizer_state_topic"  value="/localizer_state"/>


        <param name="reg_name"  value="ndt"/>
<!--        <param name="reg_name"  value="fvgicp"/>-->
<!--        <param name="reg_name"  value="fvgicp_cuda"/>-->

        <param name="trans_epsilon"  value="0.01"/>
        <param name="resolution"  value="1"/>
        <param name="step_size"  value="0.1"/>
        <param name="max_iterations"  value="35"/>

        <param name="threshold"  value="0.2"/>
        <param name="max_aligned_time"  value="0.1"/>
        <param name="odom_to_lidar_angle"  value="0.00"/>
        <param name="map_frame"                 value="map"/>
        <param name="base_link"                 value="base_link"/>
        <param name="ekf_q"     value="0.01 0.0 0.0 0.0 0.01 0.0 0.0 0.0 1.0"/>
        <param name="ekf_r"     value="1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.001"/>
    </node>
</launch>