loam_velodyne_utbm.launch

<launch>
  <arg name="bag"/> 
  <param name="use_sim_time" value="true"/>
  <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 0.1 $(arg bag)">
    <remap from="/imu/data" to="imu_not_working_for_loam"/>
  </node>
  
  <group ns="hdl32e_left">
    <node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
      <param name="calibration" value="$(find velodyne_pointcloud)/params/32db.yaml"/>
      <param name="min_range" value="0.4"/>
      <param name="max_range" value="130.0"/>
      <param name="view_direction" value="3.1415926"/>
      <param name="view_width" value="5.4769"/>
    </node>
  </group>
  
  <node pkg="loam_velodyne" type="multiScanRegistration" name="multiScanRegistration" output="screen">
    <remap from="multi_scan_points" to="/hdl32e_left/velodyne_points"/>
    <param name="lidar" value="HDL-32"/>
  </node>
  <node pkg="loam_velodyne" type="laserOdometry" name="laserOdometry" output="screen" respawn="true"/>
  <node pkg="loam_velodyne" type="laserMapping" name="laserMapping" output="screen"/>
  <node pkg="loam_velodyne" type="transformMaintenance" name="transformMaintenance" output="screen"/>
  
  <!-- Magellan ProFlex 500 GNSS Receiver -->
  <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver" output="screen"/>
  <node pkg="gps_common" type="utm_odometry_node" name="utm_odometry_node"/>
  <node pkg="magellan_proflex500_driver" type="magellan_proflex500_driver" name="magellan_proflex500_driver"/>

  <node pkg="tf" type="static_transform_publisher" name="static_tf_velodyne" args="0 0 0 0 0 0 1 camera_init velodyne_left 100"/>
  <node pkg="tf" type="static_transform_publisher" name="static_tf_navsat" args="0.5 -1.4 -1.5 0 0 0.199 0.980 camera_init navsat 100"/>
 
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_velodyne)/rviz_cfg/loam_velodyne_utbm.rviz"/>
</launch>