<!-- 
ME132b launch file: launches the bag file with no wheel odometry along with the laser_scan_matching node
-->

<launch>
  <arg name="file" default="no_odom" />
  <node pkg="rosbag" type="play" name="player" output="screen" args="--clock /home/me132/$(arg file).bag"/>


  <!-- params from http://wiki.ros.org/laser_scan_matcher?distro=fuerte -->
  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">

    <!-- Topics -->
    <remap from="scan" to="scan"/>

    <!-- Coordinate frames -->
    <param name="fixed_frame" value="world" />
    <param name="base_frame" value="base_link" />

    <!-- Motion prediction -->
    <param name="use_imu" value="false"/>

  </node>

</launch>
