aloam_hesai_40p.launch

<launch>

	<param name="scan_line" type="int" value="40" />

	<param name="mapping_skip_frame" type="int" value="1" />

	<param name="minimum_range" type="double" value="0.3" />

	<param name="mapping_line_resolution" type="double" value="0.2"/>

	<param name="mapping_plane_resolution" type="double" value="0.4"/>

	<node pkg="aloam_velodyne" type="HscanRegistration" name="HscanRegistration" output="screen" />

	<node pkg="aloam_velodyne" type="alaserOdometry" name="alaserOdometry" output="screen" />

	<node pkg="aloam_velodyne" type="alaserMapping" name="alaserMapping" output="screen" />

	<arg name="rviz" default="true" />
	<group if="$(arg rviz)">
		<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find aloam_velodyne)/rviz_cfg/aloam_hesai.rviz" />
	</group>

</launch>