kitti_launch.xml

<?xml version="1.0"?>
<launch>
    <arg name="KITTI_OBJ_DIR" default="/data/kitti_obj/training"/>
    <arg name="KITTI_RAW_DIR" default="/data/kitti_raw"/>
    <arg name="KITTI_DEPTH_DIR" default="/data/data_depth_annotated"/>
    <arg name="FLAG_KITTI_OBJ" default="false"/>
    <arg name="Image_PointCloud_Depth" default="5.0"/>
    <arg name="UPDATE_FREQUENCY" default="8.0"/>

    <node pkg="ros2_dataset_bridge" exec="kitti_visualize_node" name="kitti_visualize_node" output="screen">
        <param name="KITTI_OBJ_DIR" value="$(var KITTI_OBJ_DIR)"/>
        <param name="KITTI_RAW_DIR" value="$(var KITTI_RAW_DIR)"/>
        <param name="KITTI_DEPTH_DIR" value="$(var KITTI_DEPTH_DIR)"/>
        <param name="Image_PointCloud_Depth" value="$(var Image_PointCloud_Depth)"/>
        <param name="FLAG_KITTI_OBJ" value="$(var FLAG_KITTI_OBJ)"/>
        <param name="UPDATE_FREQUENCY" value="$(var UPDATE_FREQUENCY)"/>
    </node>
    <node pkg="ros2_dataset_bridge" exec="gui_controller" name="GUI_controller_node" output="screen" respawn="false" respawn_delay="0">

    </node>
    <node pkg="rviz2" exec="rviz2" name="rviz2" args="-d $(find-pkg-share ros2_dataset_bridge)/rviz/kitti.rviz"/>
</launch>