常用launch命令

  <param name="/use_sim_time" value="true" />

 <node  pkg="rviz" name="rviz" type="rviz" args="-d $(find hdl_localization)/rviz/hdl_localization.rviz"   />

    <node pkg="rosbag" name="player" type="play" args=" -r 2 -d 10 $(find hdl_localization)/data/hdl_400.bag"  />