cloud_processing_python_test.launch

<?xml version="1.0"?>
<launch>
    <arg name="cloud_topic" default=""/>
    <arg name="processed_cloud_topic" default="processed_cloud"/>
    <arg name="target_frame" default="/base_link" />
    <arg name="extract_planes" default="true"/>
    <arg name="plane_fitting_config_file"
         default="$(find mas_perception_libs)/ros/config/plane_fitting_default_configs.yaml" />
    <node pkg="mas_perception_libs" type="cloud_processing_python_test" name="cloud_processing_python_test"
          launch-prefix="valgrind --log-file=valgrind_log.txt --leak-check=yes --track-origins=yes" output="screen"
          ns="mas_perception">
        <rosparam file="$(arg plane_fitting_config_file)" command="load"/>
        <param name="cloud_topic" type="string" value="$(arg cloud_topic)" />
        <param name="processed_cloud_topic" type="string" value="$(arg processed_cloud_topic)" />
        <param name="target_frame" type="string" value="$(arg target_frame)" />
        <param name="extract_planes" type="bool" value="$(arg extract_planes)" />
    </node>
</launch>