vlp16packet_to_pointcloud.launch

<launch>

  <arg name="ns" default="/" />
  <arg name="frame_id" default="" />
  <arg name="min_range" default="0.4" />
  <arg name="max_range" default="130.0" />

  <group ns="$(arg ns)">
    <node pkg="nodelet" type="nodelet" name="vlp16packet_to_pointcloud"
      args="standalone velodyne_pointcloud/TransformNodelet > /dev/null">
      <param name="model" value="VLP16" />
      <param name="calibration" value="$(find velodyne_pointcloud)/params/VLP16db.yaml" />
      <param name="organize_cloud" value="false" />
      <param name="max_range" value="$(arg max_range)" />
      <param name="min_range" value="$(arg min_range)" />
      <param name="target_frame" value="$(arg frame_id)" />
    </node>
  </group>

</launch>