message: revert launchfile
diff: <?xml version="1.0" encoding="UTF-8"?>
  <launch>
  <arg name="play_bag" default="true" />
  - <arg name="bag_file" default="/home/z/Downloads/2018-09-28-13-01-07.bag"/>
  + <arg name="bag_file" default="/path/to/basement_dataset.bag"/>
  <!-- Download the dataset here: https://projects.asl.ethz.ch/datasets/doku.php?id=basement2018 -->
  <node name="player" pkg="rosbag" type="play" output="screen" args="-r 1.0 --clock $(arg bag_file)" if="$(arg play_bag)"/>
  <node name="voxblox_node" pkg="voxblox_ros" type="tsdf_server" output="screen" args="-alsologtostderr" clear_params="true">
  - <remap from="pointcloud" to="/velodyne/point_cloud_filtered"/>
  + <remap from="pointcloud" to="/velodyne_points"/>
  <param name="tsdf_voxel_size" value="0.1" />
  <param name="truncation_distance" value="0.5" />
  <param name="color_mode" value="normals" />
  <param name="min_time_between_msgs_sec" value="0.0" />
  <param name="mesh_min_weight" value="2" />
  <param name="method" value="fast" />
  - <param name="max_ray_length_m" value="20.0" />
  + <param name="max_ray_length_m" value="10.0" />
  <param name="use_const_weight" value="true" />
  <param name="minimal_mesh" value="true" />
  <param name="world_frame" value="map"/>
  