从pointcloud-to-laserscan的launch文件总结launch文件的写法

<?xml version="1.0"?>    
<launch>  
    <!-- run pointcloud_to_laserscan node -->
    # <node pkg=所在功能包名字 type=生成的可执行文件的名字 name=自行重命名>
    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
        <remap 解决相互通信的两个节点编程上对需要通信信息命名不同的问题，将别人发给你的信息，重命名为自己所订阅的节点名>
        <remap from="cloud_in" to="/rslidar_points"/>
        <remap from="scan" to="/rslidar/scan"/>
        <rosparam> # 设置参数，会储存在参数服务器中，给程序使用
            # target_frame: rslidar # Leave disabled to output scan in pointcloud frame
            transform_tolerance: 0.01
            min_height: -0.4
            max_height: 1.0

            angle_min: -3.1415926 # -M_PI
            angle_max: 3.1415926 # M_PI
            angle_increment: 0.003 # 0.17degree
            scan_time: 0.1
            range_min: 0.2
            range_max: 100
            use_inf: true
            inf_epsilon: 1.0

            # Concurrency level, affects number of pointclouds queued for processing and number of threads used
            # 0 : Detect number of cores
            # 1 : Single threaded
            # 2->inf : Parallelism level
            concurrency_level: 1
        </rosparam>
    </node>
</launch>