<launch>
<arg name = "rosbag_file" value = "/home/xx/xxx.bag"/>
<!--machine name="local_alt" address="localhost" default="true" /-->
<param name="/use_sim_time" value="true"/>
<node name="player" pkg="rosbag" type="play" args="--clock -r 1.0 $(arg rosbag_file)" cwd="node" required="true"/>
<node name="gmapping" pkg="gmapping" type="slam_gmapping" output="screen" >
<remap from="scan" to="/x/laserscan" />
<remap from="odom" to="/x/odometry"/>
<param name="base_frame" value="/x/base_link"/>
<param name="odom_frame" value="/x/odom"/>
<param name="maxUrange" value="16.0"/>
</node>
<node type="rviz" name="rviz" pkg="rviz"/>
</launch>
启动rosbag play用于试验gmapping算法
注意:/use_sim_time 设置为True
出现黄色警告:TF_OLD_DATA ignoring data from the past for frame odom
解决办法是 删除--clock后解决问题!
gmapping 参数 官方说明得知:http://wiki.ros.org/gmapping