mapping_mid360.launch

<launch>
<!-- Launch file for Livox Horizon LiDAR -->

	<arg name="rviz" default="true" />

	<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen">
	<rosparam command="load" file="$(find point_lio)/config/mid360.yaml" />
	<param name="use_imu_as_input" type="bool" value="0"/> <!--change to 1 to use IMU as input of Point-LIO-->
	<param name="prop_at_freq_of_imu" type="bool" value="1"/>
	<param name="check_satu" type="bool" value="1"/>
	<param name="init_map_size" type="int" value="10"/>
	<param name="point_filter_num" type="int" value="3"/> <!--1, 3--> 
	<param name="space_down_sample" type="bool" value="1" />  
	<param name="filter_size_surf" type="double" value="0.5" /> <!--0.5, 0.3, 0.2, 0.15, 0.1--> 
	<param name="filter_size_map" type="double" value="0.5" /> <!--0.5, 0.3, 0.15, 0.1-->
	<param name="cube_side_length" type="double" value="1000" /> <!--1000-->
	<param name="runtime_pos_log_enable" type="bool" value="0" /> <!--1-->
	</node>
	<group if="$(arg rviz)">
	<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find point_lio)/rviz_cfg/loam_livox.rviz" />
	</group>

	launch-prefix="gdb -ex run --args"

</launch>