<launch>
  <param name="/use_sim_time" value="true"/>
  <node pkg="rosbag" type="play" name="rosplay"
        args="-d 5 -r 1 --clock --hz 10 $(find gmapping)/test/hallway_slow_2011-03-04-21-41-33.bag"/>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="scan" to="base_laser1_scan"/>
  </node>
  <!--test time-limit="180" test-name="basic_localization_stage" pkg="gmapping" 
        type="test_map.py" args="90.0"/-->
  <test time-limit="180" test-name="map_data_different_beamcount_test" pkg="gmapping" type="gmapping-rtest" args="90.0 0.05 4000 4000 0.002 0.005"/>
</launch>
