simple_demo.launch

<launch>

  <!-- Elevation mapping node -->
  <node pkg="elevation_mapping" type="elevation_mapping" name="elevation_mapping" output="screen">
    <rosparam command="load" file="$(find elevation_mapping_demos)/config/robots/simple_demo_robot.yaml" />
    <rosparam command="load" file="$(find elevation_mapping_demos)/config/elevation_maps/simple_demo_map.yaml" />
    <rosparam command="load" file="$(find elevation_mapping_demos)/config/postprocessing/postprocessor_pipeline.yaml" />
  </node>

  <!-- Publish some points -->
  <node pkg="point_cloud_io" type="read" name="read_ply" output="screen">
    <param name="file_path" value="$(find elevation_mapping_demos)/sample_data/maze.ply" />
    <param name="topic" value="/points" />
    <param name="frame" value="map" />
    <param name="rate" value="1.0" />
  </node>

  <!-- Setup a transform between the world and the robot -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="world_to_robot" args="2.0 6.0 0.0 0.0 0.0 0.0 /map /base"/>

  <!-- Launch visualizations for the resulting elevation map -->
  <include file="$(find elevation_mapping_demos)/launch/visualization.launch" />

  <!-- Launch RViz with the demo configuration -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find elevation_mapping_demos)/rviz/elevation_map_visualization.rviz" />

</launch>