?xml version="1.0"?> mapping_default.launch

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output$

<!-- Frame names -->
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />

<param name="odom_frame" value="base_link" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="5" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />

<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue$
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_sca$

<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_sca$

<node pkg=“tf“ type=“static_transform_publisher“ name=“map_to_odom“ args=“0 0$ <node pkg=“tf“ type=“static_transform_publisher“ name=“odom_to_base_footprint$ <node pkg=“tf“ type=“static_transform_publisher“ name=“base_footprint_to_base$ <node pkg=“tf“ type=“static_transform_publisher“ name=“base_link_to_base_stab$ <node pkg=“tf“ type=“static_transform_publisher“ name=“base_to_nav_link“ args$ <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcas$

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