<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch"/>
<include file="$(find realsense2_camera)/launch/rs_camera.launch"/>

<include file="$(find pointcloud_to_laserscan)/launch/pointcloud_to_laserscan.launch"/>
<include file="$(find ray_ground_filter)/launch/ray_ground_filter.launch" />
<include file="$(find elevation_mapping_demos)/launch/realsense_demo.launch" />


<include file="$(find ndt_localization)launch/ndt_localization.launch"/>

<!--发布静态TF变换-->
<node pkg="tf" type="static_transform_publisher" name="base2laser" args="0.2 0 0.8 0 0 0 1 /base_link /velodyne 100" />
<node pkg="tf" type="static_transform_publisher" name="base2camera" args="0.25 0 0.7 0 0.38 0 1 /base_link /camera_link 100" />


<!--RVIZ-->