<launch>

  <node pkg="loam_back_and_forth" type="scanRegistration" name="scanRegistration" output="screen"/>
  <node pkg="loam_back_and_forth" type="laserOdometry" name="laserOdometry" output="screen"/>
  <node pkg="loam_back_and_forth" type="laserMapping" name="laserMapping" output="screen"/>
  <node pkg="loam_back_and_forth" type="transformMaintenance" name="transformMaintenance" output="screen"/>

  <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_back_and_forth)/loam_back_and_forth.vcg"/>

</launch>