Add a single launch file for depth camera 2D SLAM. (#3)

cartographer_turtlebot2/launch/turtlebot2.launch

@@ -18,9 +18,6 @@
   <param name="robot_description"
     textfile="$(find cartographer_turtlebot2)/urdf/turtlebot2.urdf" />
 
-  <node name="robot_state_publisher" pkg="robot_state_publisher"
-    type="robot_state_publisher" />
-
   <node name="cartographer" pkg="cartographer_ros"
       type="cartographer_node" args="
           -configuration_directory

cartographer_turtlebot2/launch/turtlebot2_depth_camera_2d.launch

@@ -0,0 +1,27 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <include file="$(find turtlebot_bringup)/launch/minimal.launch" />
+  <include file="$(find openni2_launch)/launch/openni2.launch" />
+
+  <node name="squash_depth_camera" pkg="depthimage_to_laserscan"
+      type="depthimage_to_laserscan">
+    <remap from="image" to="/camera/depth/image_raw" />
+  </node>
+
+  <include file="$(find cartographer_turtlebot2)/launch/turtlebot2.launch" />
+</launch>

scripts/install.bash

@@ -18,7 +18,6 @@ set -o errexit
 set -o verbose
 
 sudo apt-get update
-sudo apt-get install -y tmux
 
 source /ros_entrypoint.sh