<launch>
  <node pkg="gmapping" type="slam_gmapping_replay" name="slam_gmapping_replay" output="screen"
        args="--bag_filename $(find gmapping)/test/test_upside_down.bag --scan_topic /laserscan/fix/raw _base_frame:=base_floor"/>
  <test time-limit="190" test-name="test_symmetry" pkg="gmapping" type="gmapping-rtest" args="180.0 0.05 4000 4000 0.002 0.010"/>
</launch>