Vehicle-cpp/Nav/autoware_src/autoware/common/object_map/launch/wayarea2grid.launch

<launch>
  <!-- node parameters -->
  <arg name="sensor_frame" default="velodyne" />
  <arg name="grid_frame" default="map" />
  <arg name="grid_resolution" default="0.3" />
  <arg name="grid_length_x" default="150" />
  <arg name="grid_length_y" default="150" />
  <arg name="grid_position_x" default="0" />
  <arg name="grid_position_y" default="0" />
  <arg name="grid_position_z" default="-2" />

  <!-- Launch node -->
  <node pkg="object_map" type="wayarea2grid" name="wayarea2grid" output="screen">
    <param name="sensor_frame" value="$(arg sensor_frame)" />
    <param name="grid_frame" value="$(arg grid_frame)" />
    <param name="grid_resolution" value="$(arg grid_resolution)" />
    <param name="grid_length_x" value="$(arg grid_length_x)" />
    <param name="grid_length_y" value="$(arg grid_length_y)" />
    <param name="grid_position_x" value="$(arg grid_position_x)" />
    <param name="grid_position_y" value="$(arg grid_position_y)" />
    <param name="grid_position_z" value="$(arg grid_position_z)" />
  </node>

</launch>