Vehicle-cpp/Nav/autoware_src/autoware/common/object_map/launch/laserscan2costmap.launch

<!-- -->
<launch>
    <arg name="resolution" default="0.1" />
    <arg name="scan_size_x" default="1000" />
    <arg name="scan_size_y" default="1000" />
    <arg name="map_size_x" default="500" />
    <arg name="map_size_y" default="500" />
    <arg name="scan_topic" default="/scan" />
    <arg name="sensor_frame" default="/velodyne" />

  <node pkg="object_map" type="laserscan2costmap" name="laserscan2costmap" output="screen">
        <param name="resolution" value="$(arg resolution)" />
        <param name="scan_size_x" value="$(arg scan_size_x)" />
        <param name="scan_size_y" value="$(arg scan_size_y)" />
        <param name="map_size_x" value="$(arg map_size_x)" />
        <param name="map_size_y" value="$(arg map_size_y)" />
        <param name="scan_topic" value="$(arg scan_topic)" />
        <param name="sensor_frame" value="$(arg sensor_frame)" />
  </node>

</launch>