<launch>
  <!-- Arguments -->
  <arg name="configuration_basename" default="agv_lds_2d.lua"/>
  <arg name="odom_frame" default="odom"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>

  <!-- Hector mapping -->
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    <!-- Frame names -->
    <param name="map_frame"  value="map" />
    <param name="odom_frame" value="$(arg odom_frame)" />
    <param name="base_frame" value="$(arg base_frame)" />

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

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <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="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free"         value="0.4"/>
    <param name="update_factor_occupied"     value="0.9" />   
    <param name="map_update_distance_thresh" value="0.1"/>
    <param name="map_update_angle_thresh"    value="0.04" />
    <param name="map_pub_period"             value="2" />
    <param name="laser_z_min_value"          value= "-0.1" />
    <param name="laser_z_max_value"          value= "0.1" />
    <param name="laser_min_dist"             value="0.12" />
    <param name="laser_max_dist"             value="3.5" />

    <!-- Advertising config -->
    <param name="advertise_map_service"      value="true"/> 
    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <!-- Debug parameters -->
    <!--
      <param name="output_timing"    value="false"/>
      <param name="pub_drawings"     value="true"/>
      <param name="pub_debug_output" value="true"/>
    -->
  </node>
</launch>