<launch>
  <param name="/use_sim_time" value="false" />
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/twoLaser.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename twoLaser.lua"
      output="screen">
    <remap from="scan_1" to="up_scan" />
    <remap from="scan_2" to="down_scan" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />" 
</launch>
