Quadrotor

<launch>

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

    <!-- 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="0.0250" />

		<!-- 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="7.0" />

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

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

	</node>

</launch>