<?xml version="1.0"?>
<launch>
    <param name="/use_sim_time" value="true"/>

    <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find agv_slame)/config/mapping_demo.rviz"/>

    <include file="$(find hector_mapping)/launch/mapping_default.launch"/>

    <include file="$(find hector_geotiff_launch)/launch/geotiff_mapper.launch">
        <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
        <arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>
    </include>

</launch>