Launch File Explanation

The launch File Located in:

/Documents/catkin_make_ws/src/Control-Mapping-SARWAI/husky_slam_simulation/launch

• First node relays Odemetry to Odom
• Second Node opens Google Cartographer occupancy grid
• Third node opens up Google Cartographer itself
• Fourth node opens up rviz
• Fifth node opens up Stereo Image Proc in order to create the pointcloud2 data
• Sixth Node relays /stereo/points2 to /cloud_in which converts the pointcloud2 data to laserscan data
• Finally launch the playpen in Gazebo