Gmapping.launch

 <!--
  Launcher for gmapping.
  -->
<launch>
    <node pkg="gmapping" 
          type="slam_gmapping" 
          name="slam_gmapping"
          respawn="true" 
          output="screen">
        <param name="xmin" value="-30"/>
        <param name="ymin" value="-30"/>
        <param name="xmax" value="30"/>
        <param name="ymax" value="30"/>
        <param name="delta" value="0.01"/>
        />
    </node>
</launch>