launchfile.launch

<launch>
  <!-- Launch RPLIDAR -->
  <node pkg="rplidar_ros" type="rplidarNode" name="rplidar_node" output="screen">
    <param name="serial_port" value="/dev/ttyUSB0"/>
    <param name="serial_baudrate" value="115200"/>
  </node>
  <!-- Launch HectorSLAM -->
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping_node" output="screen">
    <param name="map_resolution" value="0.05"/> <!-- Set the map resolution to 5 cm/pixel -->
    <param name="map_size" value="512"/>      <!-- Set the map size to 512x512 pixels -->
    <!-- Add the following lines to subscribe to the CO2 topic -->
    <remap from="co2_data" to="/co2"/> 
    <arg name="co2_topic" default="/co2" />
    <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff" output="screen">
      <remap from="map" to="map"/>
      <param name="filename" value="hector_map"/>
      <param name="directory" value="$(find hector_mapping)/map"/>
      <param name="co2_topic" value="$(arg co2_topic)"/>
    </node>
  </node>
  <!-- Launch rosserial_python -->
  <node pkg="rosserial_python" type="serial_node.py" name="rosserial_node" output="screen">
    <param name="port" value="/dev/ttyACM0"/>
    <param name="baud" value="9600"/>
  </node>
  <!-- Launch robot13_controller nodes -->
  <node pkg="robot13_controller" type="driver.py" name="driver_node" output="screen"/>
  <node pkg="robot13_controller" type="Node.py" name="node_node" output="screen"/>
  <node pkg="robot13_controller" type="backup.py" name="backup_node" output="screen"/>
  <node pkg="rviz" type="rviz" name="rviz">
    <param name="config" value="default"/>
  </node>

</launch>