4d_visualizer.launch

<launch>

    <!-- Args  -->
    <!-- Data to visualize  -->
    <arg name="map_file" default="$(find khronos)/../output/tmp/final.4dmap"/>

    <!-- Visualization config -->
    <arg name="show_gui" default="true"/>
    <arg name="visualizer_config" default="4d_visualizer.yaml"/>
    <arg name="world_frame" default="world"/>
    <arg name="rviz_file" default="4d_visualizer.rviz"/>


    <!-- Visualize -->
    <arg name="visualizer_node_name" default="spatio_temporal_visualizer"/>

    <include file="$(find hydra_ros)/launch/visualizer/includes/hydra_visualizer_params.xml">
        <arg name="visualizer_ns" value="$(arg visualizer_node_name)"/>
        <arg name="visualizer_frame" value="$(arg world_frame)"/>
    </include>

    <node pkg="khronos_ros" type="spatio_temporal_visualizer_node" name="$(arg visualizer_node_name)" output="screen" args="-alsologtostderr -colorlogtostderr">
        <rosparam file="$(find khronos_ros)/config/visualization/$(arg visualizer_config)" command="load"/>
        <param name="map_file" value="$(arg map_file)"/>
        <param name="global_frame_name" value="$(arg world_frame)"/>
    </node>

    <include file="$(find khronos_ros)/launch/gui_4d_visualizer.launch" if="$(arg show_gui)">
        <arg name="visualizer_node_name" value="$(arg visualizer_node_name)"/>
        <arg name="visualizer_config" value="$(arg visualizer_config)"/>
    </include>

    <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find khronos_ros)/config/rviz/$(arg rviz_file)"/>

    <node name="global_tf" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 1 map world" />
</launch>