r3live.launch

<launch>
    <!-- Subscribed topics -->
    <param name="LiDAR_pointcloud_topic" type="string" value= "/laser_cloud_flat" />
    <param name="IMU_topic" type="string" value= "/mavros/imu/data_raw" />
    <param name="Image_topic" type="string" value= "/camera/image_color" />
    <param name="r3live_common/map_output_dir" type="string" value="$(env HOME)/r3live_output" />
    <rosparam command="load" file="$(find r3live)/../config/r3live_config.yaml" />

    <node pkg="r3live" type="r3live_LiDAR_front_end" name="r3live_LiDAR_front_end"  output="screen" required="true"/>
    <node pkg="r3live" type="r3live_mapping" name="r3live_mapping" output="screen" required="true" />
    
    <arg name="rviz" default="1" />
    <group if="$(arg rviz)">
        <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find r3live)/../config/rviz/r3live_rviz_config.rviz" />
    </group>
</launch>