<launch>
  <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

    <!-- resolution in meters per pixel -->
    <param name="resolution" value="0.1" />

    <!-- name of the fixed frame, needs to be "/map" for SLAM -->
    <param name="frame_id" type="string" value="world" />

    <!-- max range / depth resolution of the kinect in meter -->
    <param name="sensor_model/max_range" value="50.0" />
    <param name="latch" value="true" />

    <!-- max/min height for occupancy map, should be in meters -->
    <param name="pointcloud_max_z" value="1000" />
    <param name="pointcloud_min_z" value="0" />

    <!-- topic from where pointcloud2 messages are subscribed -->
    <remap from="cloud_in" to="//orbslam2_pointcloud/PointCloudOutput" />

  </node>

  <!-- RViz -->
  <node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen" args="-d $(find orbslam2_pointcloud)/OctomapRealtimeShow.rviz" />

</launch>