Added arg to localization launch file.

aicp_ros/launch/aicp.launch

@@ -45,7 +45,7 @@
     <!-- Prior map params -->
     <param name="crop_map_around_base"          value="15.0" /> <!-- box dimesions: value*2 x value*2 -->
                                                                 <!-- 15.0 to generate Ground Truth (David IROS19) -->
-    <param name="merge_aligned_clouds_to_map"   value="true" /> <!-- true to generate Ground Truth (David IROS19) -->
+    <param name="merge_aligned_clouds_to_map"   value="$(arg merge_aligned_clouds_to_map)" /> <!-- true to generate Ground Truth (David IROS19) -->
     <!-- Reference update policy -->
     <param name="failure_prediction_mode"       value="false" />
     <param name="reference_update_frequency"    value="5" />

aicp_ros/launch/aicp_localization_only.launch

@@ -7,12 +7,14 @@
   <arg name="map_from_file_path"           default="$(find gazebo_worlds_drs)/point_clouds/fire_college.ply"/>
   <arg name="load_map_from_file"           default="true"/>
   <arg name="localize_against_prior_map"   default="true"/>
+  <arg name="merge_aligned_clouds_to_map"  default="true"/>
 
   <include file="$(find aicp_ros)/launch/aicp.launch">
-    <arg name="fixed_frame"                value="$(arg fixed_frame)"/>
-    <arg name="map_from_file_path"         value="$(arg map_from_file_path)"/>
-    <arg name="load_map_from_file"         value="$(arg load_map_from_file)"/>
-    <arg name="localize_against_prior_map" value="$(arg localize_against_prior_map)"/>
+    <arg name="fixed_frame"                 value="$(arg fixed_frame)"/>
+    <arg name="map_from_file_path"          value="$(arg map_from_file_path)"/>
+    <arg name="load_map_from_file"          value="$(arg load_map_from_file)"/>
+    <arg name="localize_against_prior_map"  value="$(arg localize_against_prior_map)"/>
+    <arg name="merge_aligned_clouds_to_map" value="$(arg merge_aligned_clouds_to_map)"/>
   </include>
   
   <!-- Initial pose guess -->