Real world

rosrun bunker_bringup bringup_can2usb.bash
roslaunch gromi_scan_planning runall.launch

Simulation (/velodyne_points)

rosbag play <bagfilename>.bag --clock --topic /velodyne_points
roslaunch gromi_scan_planning runall.launch sim:=true # for simulation with /velodyne_points

Playing bag file

rosbag play <bagfilename>.bag --clock
rviz -d ./src/gromi_scan_planning/rviz/test.rviz