demo_2d_original.launch

<?xml version="1.0"?>
<launch>
  <param name="use_sim_time" value="true" />
  <arg name="use_cartographer" default="false" doc="Use Google Cartographer for SLAM" />
  <arg name="use_gmapping" default="false" doc="Use GMapping for SLAM" />

  <arg name="no_rviz" default="false" doc="Donot start Rviz"/>
  <arg name="rate" default="1.0" doc="ROS bag replay rate"/>
  <arg name="bag_filename"/>

  <group if="$(arg use_cartographer)">
    <include file="$(find sensor_fusion)/launch/config_2d.launch" />
  </group>

  <group if="$(arg use_gmapping)">
    <include file="$(find sensor_fusion)/launch/config_gmapping.launch">
      <!-- <arg name="linearUpdate" value="0.01"/> -->
      <arg name="angularUpdate" value="0.05" />
      <!-- <arg name="particles" value="50"/> -->
      <!-- <arg name="map_update_interval" value="0.05"/> -->
      <!-- <arg name="maxUrange" value="50"/> -->
    </include>
  </group>



<node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_slam)/rviz/turtlebot3_slam.rviz" />


  <arg name="skip_time" default="0" doc="Skip this many seconds before playing the bag file"/>

<!-- 
  <node name="playbag" pkg="rosbag" type="play"
	args="--start=$(arg skip_time) --clock --rate $(arg rate) $(arg bag_filename)"> -->
    <!-- <remap to="tf_dev_null" from="tf"/> 
  </node>
-->
</launch>