Quadrotor

<launch>

  <!--might only work with the experimental octomap (as of May 11)-->

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

    <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="false" output="log" > </node>

    <!-- Launch octomap_server for mappingL: Listens to incoming PointCloud2 data 

    and incrementally build an octomap. The data is sent out in different representations. -->

    <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

      <param name="resolution" value="0.025" />

      <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->

      <param name="frame_id" type="string" value="map" />

      <!-- maximum range to integrate (speedup, accuracy) -->

      <param name="max_sensor_range" value="5.0" />

      <!-- data source to integrate (PointCloud2) -->

          <remap from="cloud_in" to="/rgbdslam/batch_clouds" />

    </node>

</launch>