octomap_merged.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>
  <arg name="robot_name" default="X2" />

  <node ns="$(arg robot_name)_merged" pkg="octomap_server" type="octomap_server_node" name="octomap_server">
    <param name="resolution" value="0.2" />

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
    <param name="frame_id" type="string" value="world" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="70000.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/X2/merged_pc" />

    <!-- the robot's base frame in which the ground plane detection is performed -->
    <!-- <remap from="base_frame_id" to="/X1/base_link" /> -->

    <!-- remove ground plane occupancy from occupancy grid (boolean)-->
    <!-- <param name="filter_ground" value="false" /> -->

    <!-- Publish free cells vis_array (boolean)-->
    <param name="publish_free_space" value="true" />
  </node>
</launch>