<launch>
  
  <!--
    Convert laser scan to 3D point cloud into fixed frame not rotating along with sensor.
    Also performs scan shadow point filtering
  -->
  <node pkg="laserscan_to_pointcloud" type="laserscan_to_pointcloud_node" name="scan_to_ptcld" respawn="true">
    <param name="min_range" value="0.05" />
    <param name="use_high_fidelity_projection" value="true" />
    <param name="target_frame" value="laser_link" />
    <rosparam command="load" file="$(find laserscan_to_pointcloud)/config/default_scan_shadow_filter.yaml" />
  </node>

</launch>
