perception.launch

<!-- TODO: Insert components of component-->
<launch>
  <arg name="role_name" default="hero" />
  <arg name="control_loop_rate" default="0.1" />

  <node pkg="perception" type="PositionPublisher.py" name="PositionPublisher" output="screen">
    <param name="control_loop_rate" value="0.1" />
    <param name="role_name" value="$(arg role_name)" />
  </node>

    <node pkg="perception" type="EKFTranslationNode.py" name="EKFTranslationNode" output="screen">
    <param name="control_loop_rate" value="0.1" />
    <param name="role_name" value="$(arg role_name)" />
  </node>

  <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
    <!--remap from="imu_data" to="carla/hero/IMU"/-->
    <!--remap from="vo" to="carla/hero/ekf_vo"/-->
    <param name="output_frame" value="Local Frame"/>
    <param name="base_footprint_frame" value="hero"/>
    <param name="freq" value="20.0"/>
    <param name="sensor_timeout" value="10.0"/>
    <param name="odom_used" value="false"/>
    <param name="imu_used" value="false"/>
    <param name="vo_used" value="true"/>
    <param name="debug" value="true"/>
    <param name="self_diagnose" value="true"/>
  </node>

  <node pkg="lidar_camera" name="lidar_camera" type="lidar_camera_node" output="screen" required="true">
    <remap from="cloud_in" to="/carla/hero/LIDAR"/>
    <remap from="image_in" to="/carla/hero/Center/image"/>
    <remap from="camera_info" to="/carla/hero/Center/camera_info"/>
  </node>

  <node pkg="perception" type="lidar_depth_buffer.py" name="lidar_depth_buffer" output="screen">
  </node>
</launch>