Converting laser_scan_matcher demo to use hokuyo node input

edit

Here is a launch file that should work:

<launch>
  <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node"/>

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
    name="laser_scan_matcher_node" output="screen">
    <param name="use_alpha_beta" value="true"/>
    <param name="max_iterations" value="10"/>
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />

</launch>

The first node launches the hokuyo_node driver, the second one launches the laser_scan_matcher, and the third one provides the neccessary tf from the base_link to the laser frame.

The parameters in the laser_scan_matcher aren't required, but tweaking them will probably improve performance. Check the documentation to see what the parameter options are and to find out what works best for you.

EDIT

The clock parameter is documented here.