<commit_before><?xml version="1.0"?>

<launch>
  
  <arg name="odom_frame" default="odom" />
  <arg name="poseupdate_topic_name" default="poseupdate"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_topic" default="laser1/scan"/>
  <arg name="use_tf_pose_start_estimate" default="false"/>
  <arg name="map_topic" default="scanmatcher_map" />
  <arg name="map_with_known_poses" default="false"/>


  
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen" respawn="true">
    
    <remap from="scan" to="$(arg scan_topic)" />
    <remap from="poseupdate" to="$(arg poseupdate_topic_name)"/>

    
    <param name="base_frame" value="base_stabilized" />
    <param name="odom_frame" value="$(arg odom_frame)"/>
    <param name="map_with_known_poses" value="$(arg map_with_known_poses)"/>
    
    

    <param name="output_timing" value="false"/>
    
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)" />
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="$(arg use_tf_pose_start_estimate)"/>

    <param name="map_pub_period" value="1.0"/>

    <param name="laser_z_min_value" value = "-0.3"/>
    
    <param name="update_factor_free" value="0.3"/>

    <param name="map_resolution" value="0.05"/>
    <param name="map_size" value="1024"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5"/>
    <param name="map_multi_res_levels" value="1"/>
    
    <param name="laser_min_dist" value="0.3"/> 

    <remap from="map" to="$(arg map_topic)" />
  </node>

  <node pkg="hector_map_server" type="hector_map_server" name="hector_map_server" output="screen" respawn="true">
    <remap from="map" to="scanmatcher_map" />
    <remap from="~/get_search_position" to="get_search_position" />
  </node>

<!--  <remap from="cost_map/map" to="cost_map" />
  <node pkg="hector_map_server" type="hector_map_server" name="hector_map_server" ns="cost_map" output="screen">
  </node>-->
  
  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
  </node>

<!--  <node pkg="map_to_image_tools" type="map_to_image_node" name="map_to_image_node" output="screen" launch-prefix="nice -n 15">
  </node>-->

  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
    <remap from="map" to="scanmatcher_map" />
    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="" />
    <param name="geotiff_save_period" type="double" value="45" />
    <param name="robot_default_name" type="string" value="Hector" />

    <param name="plugins" type="string" value="hector_barrel_geotiff_plugin/BarrelMapWriter hector_geotiff_plugins/TrajectoryMapWriter hector_worldmodel_geotiff_plugins/QRCodeMapWriter hector_worldmodel_geotiff_plugins/VictimMapWriter" />
    <param name="VictimMapWriter/draw_all_objects" value="false" />
    <param name="VictimMapWriter/class_id" value="victim" />
    <param name="QRCodeMapWriter/draw_all_objects" value="true" />
    <param name="QRCodeMapWriter/class_id" value="qrcode" />
    <param name="BarrelMapWriter/pkg_path" value="$(find hector_barrel_geotiff_plugin)" />
    <param name="BarrelMapWriter/barrel_threshold" value="0.8" /> 
    <param name="BarrelMapWriter/draw_all_objects" value="true" />
    <param name="BarrelMapWriter/class_id" value="barrel" />

     
  </node>

<!--  <remap from="cost_map/map" to="cost_map" />
  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" ns="cost_map" output="screen" launch-prefix="nice -n 15">
    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="RRL_2011_HectorDarmstadt_BCAuto_CostMap" />
    <param name="geotiff_save_period" type="double" value="50" />
  </node>-->

<!--  <node pkg="topic_tools" type="mux" name="map_mux" args="map cost_map scanmatcher_map" output="screen">
    <remap from="mux" to="map/mux"/>
  </node>-->
<!--  <node pkg="topic_tools" type="throttle" name="map_throttle" args="messages map 0.1 throttled_map" />-->

  <!--  
  <group if="$(optenv USE_HEIGHT_MAPPING false)">
    <include file="$(find hector_slam_launch)/launch/height_mapping.launch" />
  </group>
  -->
</launch>

<commit_msg>Remove start of geotiff and trajectory server nodes in mapping launch file that was introduced in 7739d3d2b3973ce07c74a87933efe0bae061<commit_after><?xml version="1.0"?>

<launch>
  
  <arg name="odom_frame" default="odom" />
  <arg name="poseupdate_topic_name" default="poseupdate"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_topic" default="laser1/scan"/>
  <arg name="use_tf_pose_start_estimate" default="false"/>
  <arg name="map_topic" default="scanmatcher_map" />
  <arg name="map_with_known_poses" default="false"/>


  
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen" respawn="true">
    
    <remap from="scan" to="$(arg scan_topic)" />
    <remap from="poseupdate" to="$(arg poseupdate_topic_name)"/>

    
    <param name="base_frame" value="base_stabilized" />
    <param name="odom_frame" value="$(arg odom_frame)"/>
    <param name="map_with_known_poses" value="$(arg map_with_known_poses)"/>
    
    

    <param name="output_timing" value="false"/>
    
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)" />
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="$(arg use_tf_pose_start_estimate)"/>

    <param name="map_pub_period" value="1.0"/>

    <param name="laser_z_min_value" value = "-0.3"/>
    
    <param name="update_factor_free" value="0.3"/>

    <param name="map_resolution" value="0.05"/>
    <param name="map_size" value="1024"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5"/>
    <param name="map_multi_res_levels" value="1"/>
    
    <param name="laser_min_dist" value="0.3"/> 

    <remap from="map" to="$(arg map_topic)" />
  </node>

  <node pkg="hector_map_server" type="hector_map_server" name="hector_map_server" output="screen" respawn="true">
    <remap from="map" to="scanmatcher_map" />
    <remap from="~/get_search_position" to="get_search_position" />
  </node>

<!--  <remap from="cost_map/map" to="cost_map" />
  <node pkg="hector_map_server" type="hector_map_server" name="hector_map_server" ns="cost_map" output="screen">
  </node>-->
  
  <!--  
  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
  </node>
  -->

<!--  <node pkg="map_to_image_tools" type="map_to_image_node" name="map_to_image_node" output="screen" launch-prefix="nice -n 15">
  </node>-->

  <!--
  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
    <remap from="map" to="scanmatcher_map" />
    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="" />
    <param name="geotiff_save_period" type="double" value="45" />
    <param name="robot_default_name" type="string" value="Hector" />

    <param name="plugins" type="string" value="hector_barrel_geotiff_plugin/BarrelMapWriter hector_geotiff_plugins/TrajectoryMapWriter hector_worldmodel_geotiff_plugins/QRCodeMapWriter hector_worldmodel_geotiff_plugins/VictimMapWriter" />
    <param name="VictimMapWriter/draw_all_objects" value="false" />
    <param name="VictimMapWriter/class_id" value="victim" />
    <param name="QRCodeMapWriter/draw_all_objects" value="true" />
    <param name="QRCodeMapWriter/class_id" value="qrcode" />
    <param name="BarrelMapWriter/pkg_path" value="$(find hector_barrel_geotiff_plugin)" />
    <param name="BarrelMapWriter/barrel_threshold" value="0.8" /> 
    <param name="BarrelMapWriter/draw_all_objects" value="true" />
    <param name="BarrelMapWriter/class_id" value="barrel" />

     
  </node>
  -->

<!--  <remap from="cost_map/map" to="cost_map" />
  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" ns="cost_map" output="screen" launch-prefix="nice -n 15">
    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="RRL_2011_HectorDarmstadt_BCAuto_CostMap" />
    <param name="geotiff_save_period" type="double" value="50" />
  </node>-->

<!--  <node pkg="topic_tools" type="mux" name="map_mux" args="map cost_map scanmatcher_map" output="screen">
    <remap from="mux" to="map/mux"/>
  </node>-->
<!--  <node pkg="topic_tools" type="throttle" name="map_throttle" args="messages map 0.1 throttled_map" />-->

  <!--  
  <group if="$(optenv USE_HEIGHT_MAPPING false)">
    <include file="$(find hector_slam_launch)/launch/height_mapping.launch" />
  </group>
  -->
</launch>


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