indoor_slam_gazebo.launch

<?xml version="1.0"?>

<launch>

  <!-- Start Gazebo with wg world running in (max) realtime -->
  <include file="$(find hector_gazebo_worlds)/launch/willow_garage.launch"/>

  <!-- Spawn simulated quadrotor uav -->
  <include file="$(find hector_quadrotor_gazebo)/launch/spawn_quadrotor.launch" >
    <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/>
    <arg name="controllers" value="
        controller/attitude
        controller/velocity
        controller/position
        "/>
  </include>

  <!-- Start SLAM system -->
  <include file="$(find quadrotor_navigation)/launch/quadrotor_mapping.launch">
    <arg name="odom_frame" value="world"/>
  </include>

  <!-- Start GeoTIFF mapper -->
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
    <arg name="trajectory_publish_rate" value="4"/>
  </include>

  <!-- Start rviz visualization with preset config -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_quadrotor_demo)/rviz_cfg/indoor_slam.rviz"/>

  <include file="$(find hector_quadrotor_teleop)/launch/xbox_controller.launch" >
    <arg name="control_mode" value="position"/>
  </include>

</launch>