freiburg2_pioneer_slam1.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
	<include file="$(find dynamic_robot_localization_tests)/launch/environments/tum/freiburg2_pioneer.launch" >
		<arg name="world_rosbag_filename" default="$(find dynamic_robot_localization_tests)/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_lasers_only_fixed_tf_without_base_link_to_laser" />
		<arg name="ground_truth_filename" default="$(find dynamic_robot_localization_tests)/datasets/tum/freiburg2_pioneer_slam1/rgbd_dataset_freiburg2_pioneer_slam_groundtruth.txt" />


		<arg name="robot_initial_pose_in_base_to_map" default="true" />
		<arg name="robot_initial_x" default="3.885" />
		<arg name="robot_initial_y" default="3.504" />
		<arg name="robot_initial_z" default="0.0" />
		<arg name="robot_initial_roll" default="0.0" />
		<arg name="robot_initial_pitch" default="0.0" />
		<arg name="robot_initial_yaw" default="0.976" />

		<!-- <arg name="robot_initial_pose_in_base_to_map" default="false" />
		<arg name="robot_initial_x" default="7.505" />
		<arg name="robot_initial_y" default="4.725" />
		<arg name="robot_initial_z" default="0.0" />
		<arg name="robot_initial_roll" default="0.0" />
		<arg name="robot_initial_pitch" default="0.0" />
		<arg name="robot_initial_yaw" default="-2.385" /> -->


		<!-- gt world -> base_link -->
		<!-- <arg name="robot_initial_x" default="-2.424" />
		<arg name="robot_initial_y" default="-2.258" />
		<arg name="robot_initial_z" default="0.301" />
		<arg name="robot_initial_roll" default="0.005" />
		<arg name="robot_initial_pitch" default="0.115" />
		<arg name="robot_initial_yaw" default="1.006" /> -->

		<!-- gt world -> odom -->
		<!-- <arg name="robot_initial_x" default="1.174" />
		<arg name="robot_initial_y" default="-1.063" />
		<arg name="robot_initial_z" default="-0.048" />
		<arg name="robot_initial_roll" default="0.023" />
		<arg name="robot_initial_pitch" default="-0.112" />
		<arg name="robot_initial_yaw" default="-2.381" /> -->
	</include>
</launch>