Vehicle-cpp/Nav/autoware_src/autoware/utilities/kitti_launch/launch/kittiplayer.launch

<?xml version="1.0"?>

<launch>

    <arg name="date" value="2011_09_26" />

    <arg name="kitti_data" value="$(arg date)_drive_0093_sync" />
    <arg name="fps" default="1" />

    <arg name="directory"
         default="$(find kitti_player)/dataset/$(arg date)/$(arg kitti_data)/"
         />

    <!-- relay topic -->
    <node pkg="topic_tools" type="relay" name="relay_points" args="/kitti_player/hdl64e /points_raw"/>
    <node pkg="topic_tools" type="relay" name="relay_image" args="/kitti_player/color/left/image_rect /image_raw"/>

    <!-- calibration publisher -->
    <include file="$(find kitti_launch)/launch/xml/camera_lidar.xml" />

    <include file="$(find kitti_launch)/launch/xml/points_raw.xml" />

    <!-- viewer -->
    <!--<node pkg="viewers" type="points_image_viewer" name="points_image_viewer">
      <remap from="/image_raw" to="/kitti_player/color/left/image_rect"/>
    </node>-->

  <!-- publish anottation box-->
    <node pkg="kitti_box_publisher" type="kitti_box_publisher.py" name="kitti_box_publisher" args="$(arg directory)/tracklet_labels.xml" output="screen"/>


    <node name="kitti_player" pkg="kitti_player" type="kitti_player"
          args= "-d $(arg directory) -f $(arg fps) -v -g -i -C -G -T"
          />


</launch>