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

<!-- -->
<launch>
  <node pkg="grid_map_visualization" type="grid_map_visualization" name="grid_map_visualization">
    <rosparam command="load" file="$(find object_map)/config/potential.yaml" />
  </node>
  <arg name="use_obstacle_box" default="true" />
  <arg name="use_vscan_points" default="false" />
  <arg name="use_target_waypoint" default="false" />

  <arg name="map_resolution" default="0.25" />
  <arg name="map_x_size" default="40.0" />
  <arg name="map_y_size" default="25.0" />
  <arg name="map_x_offset" default="10.0" />

  <node pkg="tf" type="static_transform_publisher" name="potential_field_link_tf_publiser" args="$(arg map_x_offset) 0 0 0 0 0 base_link potential_field_link 100" />

  <node pkg="object_map" type="potential_field" name="potential_field">
    <param name="use_obstacle_box" type="bool" value="$(arg use_obstacle_box)"/>
    <param name="use_vscan_points" type="bool" value="$(arg use_vscan_points)"/>
    <param name="use_target_waypoint" type="bool" value="$(arg use_target_waypoint)"/>
    <param name="map_resolution" type="double" value="$(arg map_resolution)"/>
    <param name="map_x_size" type="double" value="$(arg map_x_size)"/>
    <param name="map_y_size" type="double" value="$(arg map_y_size)"/>
    <param name="map_x_offset" type="double" value="$(arg map_x_offset)"/>
  </node>

</launch>