Launch File Definition

<launch>
  <arg name="map_yaml" default=""/>
  <arg name="bagfile" default="false"/>
  <arg name="map_server" default="false"/>

  <node pkg="fathom_cloud_processor"
        type="fathom_obstacle_finder"
        name="fathom_obstacle_finder"
        respawn="true" respawn_delay="10" >
    <rosparam file="$(find fathom_cloud_processor)/config/fathom_obstacle_finder_params.yaml" command="load"/>
  </node>

  <node if="$(arg map_server)" pkg="map_server" type="map_server" name="map_server" args="$(arg map_yaml)"/>
  <include if="$(arg bagfile)" file="$(find may_nav_ros)/launch/may_nav_ros.launch"/>

</launch>

Arguments

map_server

If true, runs a map_server node to latched-publish the map given in map_yaml

bagfile

If true, launches may_nav so you can see the costmaps that result from any changes you make to the fathom cloud processor

map_yaml

Only used if map_server is true, to feed in the location of the map yaml file.

ROS Node

fathom_obstacle_finder