<?xml version="1.0"?>

<launch>
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    <param name="scan_topic" value="laser1/scan" />
    <param name="base_frame" value="base_stabilized" />
    <param name="output_timing" value="false"/>
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>

    <param name="map_pub_period" value="1.0"/>

    <param name="laser_z_min_value" value = "-0.3"/>
    
    <param name="update_factor_free" value="0.3"/>

    <param name="map_resolution" value="0.05"/>
    <param name="map_size" value="1024"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5"/>
    <param name="map_multi_res_levels" value="1"/>

    <remap from="map" to="scanmatcher_map" />
  </node>

  <group unless="$(optenv REALROBOT false)">
    <param name="hector_mapping/use_tf_pose_start_estimate" value="false"/>
  </group>

  <param name="hector_mapping/odom_frame" value="nav"/>
  <param name="hector_mapping/pub_map_odom_transform" value="false"/>
  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100" />
</launch>
