mapping_server_relays.launch

<?xml version="1.0"?>
<launch>
  <arg name="name"/>
  <param name="use_sim_time" value="true"/>
  
  <node pkg="subt_ros" type="cloud_downsampler" name="cloud_downsampler" output="screen"/>
  
  <node
    pkg="topic_tools"
    type="throttle"
    name="mapping_server_cloud_throttle"
    args="messages /cloud 0.1 /cloud_throttled"
  />
  <node
    pkg="ros_ign_bridge"
    type="parameter_bridge"
    name="ros_ign_bridge_mapping_server_cloud"
    args="/model/$(arg name)/cloud@sensor_msgs/PointCloud2]ignition.msgs.PointCloudPacked">
    <remap from="/model/$(arg name)/cloud" to="/cloud_throttled_downsampled"/>
  </node>
  <node
    pkg="ros_ign_bridge"
    type="parameter_bridge"
    name="ros_ign_bridge_mapping_server_cloud_size"
    args="/model/$(arg name)/cloud_size@std_msgs/Int32]ignition.msgs.Int32">
    <remap from="/model/$(arg name)/cloud_size" to="/cloud_throttled_size"/>
  </node>
  <node
    pkg="topic_tools"
    type="throttle"
    name="mapping_server_grid_throttle"
    args="messages /grid 0.1 /grid_throttled"
  />
  <node
    pkg="ros_ign_bridge"
    type="parameter_bridge"
    name="ros_ign_bridge_mapping_server_grid"
    args="/model/$(arg name)/grid@nav_msgs/OccupancyGrid]ignition.msgs.OccupancyGrid">
    <remap from="/model/$(arg name)/grid" to="/grid_throttled"/>
  </node>
  <node
    pkg="topic_tools"
    type="throttle"
    name="mapping_server_poses_throttle"
    args="messages /poses 1.0 /poses_throttled"
  />
  <node
    pkg="ros_ign_bridge"
    type="parameter_bridge"
    name="ros_ign_bridge_mapping_server_poses"
    args="/model/$(arg name)/poses@geometry_msgs/PoseArray]ignition.msgs.Pose_V">
    <remap from="/model/$(arg name)/poses" to="/poses_throttled"/>
  </node>
  <node
    pkg="topic_tools"
    type="throttle"
    name="mapping_server_markers_throttle"
    args="messages /markers 1.0 /markers_throttled"
  />
  <node
    pkg="ros_ign_bridge"
    type="parameter_bridge"
    name="ros_ign_bridge_mapping_server_markers"
    args="/model/$(arg name)/markers@visualization_msgs/MarkerArray]ignition.msgs.Marker_V">
    <remap from="/model/$(arg name)/markers" to="/markers_throttled"/>
  </node>
</launch>