hector_neato.launch

<?xml version="1.0"?>

<launch>
  <node pkg="xv_11_laser_driver" type="neato_laser_publisher" name="xv_11_node">
    <!--<param name="port" value="/dev/tty.usbserial-A9UXLBBR"/>-->
    <param name="port" value="/dev/tty.LIDAR-DevB"/>
    <param name="firmware_version" value="2"/>
    <param name="frame_id" value="laser"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_frame_2_laser" args="0 0 0 0 0 0 /base_frame /laser 100"/> 
  <node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
  <include file="default_mapping.launch"/> 
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
</launch>