Vehicle-cpp/Nav/autoware_src/drivers/awf_drivers/hokuyo/scripts/hokuyo_3d.launch

<launch>
  <arg name="ip" default="192.168.0.10"/>
  <arg name="topic_name" default="points_raw"/>
  <arg name="interlace" default="4"/>

  <node name="hokuyo_3d" pkg="hokuyo" type="hokuyo_3d" output="log">
    <param name="ip" value="$(arg ip)"/>
    <param name="interlace" value="$(arg interlace)"/>
    <remap from="hokuyo_cloud2" to="$(arg topic_name)"/>
    <remap from="/hokuyo_3d/hokuyo_cloud2" to="$(arg topic_name)"/>
  </node>
</launch>