<!--
  Copyright 2018 The Cartographer Authors
  Licensed under the Apache License, Version 2.0 (the "License");
  you may not use this file except in compliance with the License.
  You may obtain a copy of the License at
       http://www.apache.org/licenses/LICENSE-2.0
  Unless required by applicable law or agreed to in writing, software
  distributed under the License is distributed on an "AS IS" BASIS,
  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  See the License for the specific language governing permissions and
  limitations under the License.
-->

<!--
  Using this will generate one .pgm and one .yaml file that together
  form the typical occupancy grid ROS map.
  The files will be placed in the same directory of the bag file.
  Remember to change configuration in the lua config_file.
-->

<launch>
  <arg name="urdf_filename" default="$(find cartographer_ros)/urdf/backpack_2d.urdf"/>

  <node name="cartographer_assets_writer" pkg="cartographer_ros" required="true"
      type="cartographer_assets_writer" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename assets_writer_ros_map.lua
          -urdf_filename $(arg urdf_filename)
          -bag_filenames $(arg bag_filenames)
          -pose_graph_filename $(arg pose_graph_filename)"
      output="screen">
  </node>
</launch>
