from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():

    return LaunchDescription([

            Node(
                package='rf2o_laser_odometry',
                executable='rf2o_laser_odometry_node',
                name='rf2o_laser_odometry',   
                parameters=[{
                    'laser_scan_topic' : '/scan',
                    'odom_topic' : '/odom',
                    'publish_tf' : True,
                    'base_frame_id' : 'base_footprint',#base_footprint
                    'odom_frame_id' : 'odom',
                    'init_pose_from_topic' : '',
                    'freq' : 10.0}],
            ),
    ])