<?xml version="1.0"?>

<launch>

  <param name="/use_sim_time" value="true"/>

  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

  <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame2"/>
    <arg name="base_frame" value="base_footprint"/>
    <arg name="odom_frame" value="base_footprint"/>
    <arg name="pub_map_odom_transform" value="false" />
  </include>

  <include file="$(find hector_geotiff_launch)/launch/geotiff_mapper.launch">
    <arg name="trajectory_source_frame_name" value="scanmatcher_frame2"/>
  </include>

</launch>
