<launch>
 <param name="use_sim_time" type="bool" value="true"/>
 <node name="tf_static_publisher" pkg="homer_mapping" type="static_publisher"/>
 <node name="homer_mapping" pkg="homer_mapping" type="homer_mapping" output="screen"/>
 <node name="rviz" pkg="rviz" type="rviz"/>
</launch>