mapviz.launch

<?xml version="1.0"?>
<launch>
 
  <!-- XXX if you cant get tile_map to work try buidling from source this will solve any hidden dependency issues XXX-->
  <!-- https://github.com/swri-robotics/mapviz -->.
  
  <!--https://github.com/danielsnider/MapViz-Tile-Map-Google-Maps-Satellite -->
  ### sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
  ### Then put this URL into the MapViz option "Custom WMTS Source..." http://localhost:8080/wmts/gm_layer/gm_grid/{level}/{x}/{y}.png


  <arg name="xy_origin_initilization" default="auto"/> <!-- "auto"(will use gps) "stutz"(if indoors)  -->

  <arg name="mapvizconfig" default="$(find agbot_0)/config/test0_mapviz.mvc" />
  <node pkg="mapviz" type="mapviz" name="$(anon mapviz)" args="-d $(arg mapvizconfig)" required="true" output="log"/>

  <node pkg="swri_transform_util" type="initialize_origin.py" name="initialize_origin" >
    <param name="local_xy_frame" value="map"/>
    <param name="local_xy_origin" value="$(arg xy_origin_initilization)"/> "auto" setting will set the origin to the first gps fix that it recieves 
    ### if using auto consider the following:
    ### GPSFix message type subscribes to message topic 'gps' 
    ### NavSatFix message type subscribes to message topic 'fix'
    <remap from="fix" to="/gps/fix"/> 
    <rosparam param="local_xy_origins">
      [{ name: stutz,
         latitude: 39.78020,
         longitude: -86.16289,
         altitude: 33.719,
         heading: 0.0},
         
       { name: beck_ag_center,
         latitude: 40.4692641,
         longitude: -86.9929879,
         altitude: 200.0,
         heading: 0.0}]
    </rosparam>
  </node>

  <!--node pkg="tf2_ros" type="static_transform_publisher" name="swri_transform" args="0 0 0 0 0 0 world map 100" -->

</launch>