octomap.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <arg name="robot_name" default="X1" />
  <arg name="frame_id" default="world" />
  <arg name="resolution" default="0.2" />

  <!-- <node ns="$(arg robot_name)" pkg="octomap_server" type="octomap_server_node" name="octomap_server"> -->
  <node ns="$(arg robot_name)" pkg="marble_mapping" type="marble_mapping_node" name="marble_mapping" output="screen">
    <param name="resolution" value="$(arg resolution)" />

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
    <param name="frame_id" type="string" value="$(arg frame_id)" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="7.0" />
    <param name="publish_merged_binary" value="true" />
    <param name="publish_merged_full" value="false" />
    <param name="diff_threshold" value="1000" />
    <param name="diff_duration" value="10.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/$(arg robot_name)/points" />

    <!-- the robot's base frame in which the ground plane detection is performed -->
    <!-- <remap from="base_frame_id" to="/X1/base_link" /> -->

    <!-- remove ground plane occupancy from occupancy grid (boolean)-->
    <!-- <param name="filter_ground" value="false" /> -->

    <!-- Publish free cells vis_array (boolean)-->
    <param name="publish_free_space" value="true" />
  </node>
</launch>