<launch>
  <!-- rosbag play -->
  <arg name="bag"/>
  <param name="use_sim_time" value="true"/>
  <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 2.0 $(arg bag)" required="true"/>

  <!-- we need a node to solve "Failed to find match for field 'intensity'" -->
  
  <!-- Adaptive Clustering -->
  <node pkg="adaptive_clustering" name="adaptive_clustering" type="adaptive_clustering">
    <remap from="velodyne_points" to="scan_float_intensity"/>
    <param name="sensor_model"      type="string" value="VLP-16"/>
    <param name="frame_id"          type="string" value="velodyne"/>
    <param name="print_fps"         type="bool"   value="true"/>
    <param name="z_axis_min"        type="double" value="-0.8"/>
    <param name="z_axis_max"        type="double" value="2.0"/>
    <param name="cluster_size_min"  type="int"    value="5"/>
    <param name="cluster_size_max"  type="int"    value="300000"/>
    <param name="object_size_limit" type="bool"   value="true"/>
  </node>
  
  <!-- Rviz -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(env PWD)/flobot_dataset_play.rviz"/>
</launch>
