added launch/jfr2018 directory with scripts used to generate results for MIT Stata Center dataset of the jfr2018 paper

launch/jfr2018/cartographer.launch

@@ -0,0 +1,49 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <!-- copy provided pr2.lua in $(find cartographer_ros)/configuration_files to use odometry as guess -->
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory
+              $(find cartographer_ros)/configuration_files
+          -configuration_basename pr2.lua" 
+      output="screen">
+    <remap from="scan" to="/base_scan_t_filtered" /> <!-- /base_scan_t /base_scan_t_filtered /camera_scan -->
+    <remap from="odom" to="/odom_combined" />
+  </node>
+
+  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
+      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+
+  <node name="tf_remove_frames" pkg="cartographer_ros"
+      type="tf_remove_frames.py">
+    <remap from="tf_out" to="/tf" />
+    <rosparam param="remove_frames">
+      - map
+      - odom_combined
+    </rosparam>
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
+  <node name="playbag" pkg="rosbag" type="play"
+      args="--clock $(arg bag_filename)">
+    <remap from="tf" to="tf_in" />
+  </node>
+</launch>