run_rawlog.launch

<launch>
	<machine name="local" address="localhost" default="true" />

	<arg name="base_frame" default="odom" />
	<arg name="target_frame" default="base_link" />
	<arg name="dataset" default="" />
	<arg name="rate" default="5" />
	<env name="PYTHONPATH" value="$(env PYTHONPATH):$(find tiny_slam)/src" />
	
	<node name="DataMergerNode" pkg="tiny_slam" type="merger.py" cwd="node" required="true">
	  <remap from="laser_scan" to="/scan" />
	  <param name="base_frame" value="$(arg base_frame)" />
	  <param name="target_frame" value="$(arg target_frame)" />
	</node>

	<node name="TinySlamNode" pkg="tiny_slam" type="main.py" cwd="node" required="true" output="screen">
	</node>

	<node name="MapTrasformPublisher" pkg="tf" type="static_transform_publisher"
	      args="0 0 0 0 0 0 odom_combined map 250" cwd="node" required="true"/>

    <node pkg="mrpt_rawlog" type="rawlog_play_node" name="rawlog_play_node" output="screen">
        <param name="debug" value="false"/> 
        <param name="rawlog_file" value="$(arg path)"/>
        <param name="rate" value="$(arg rate)"/>
    </node>

	<node name="rviz" pkg="rviz" type="rviz" respawn="true"
	      args="-d $(find tiny_slam)/rviz/localize_debug.rviz" />

</launch>