update

config/diffbot_controllers.yaml

@@ -0,0 +1,87 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diffbot_base_controller:
+      type: diff_drive_controller/DiffDriveController
+
+diffbot_base_controller:
+  ros__parameters:
+    # left_wheel_names: ["left_wheel_joint"]
+    # right_wheel_names: ["right_wheel_joint"]
+
+    right_wheel_names: ["left_wheel_joint"] # needed to switch names because motors are connected to the wrong slots
+    left_wheel_names: ["right_wheel_joint"]
+
+    wheel_separation: 0.28
+    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
+    wheel_radius: 0.065
+
+    wheel_separation_multiplier: 1.0
+    left_wheel_radius_multiplier: -1.0
+    right_wheel_radius_multiplier: 1.0
+
+    publish_rate: 100.0
+    odom_frame_id: odom
+    base_frame_id: base_link
+    # pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    # twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    pose_covariance_diagonal:
+      [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+    twist_covariance_diagonal:
+      [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
+
+    open_loop: false
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 0.5
+    #publish_limited_velocity: true
+    use_stamped_vel: false
+    velocity_rolling_window_size: 10 # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
+
+    # preserve turning radius when limiting speed/acceleration/jerk
+    preserve_turning_radius: false # changed from https://github.com/kallaspriit/rosbot/blob/main/ros/src/rosbot_description/config/diff_drive_controller.yaml
+
+    # Velocity and acceleration limits
+    # Whenever a min_* is unspecified, default to -max_*
+    # linear.x.has_velocity_limits: false
+    # linear.x.has_acceleration_limits: false
+    # linear.x.has_jerk_limits: false
+    # linear.x.max_velocity: 2.0
+    # linear.x.min_velocity: -2.0
+    # linear.x.max_acceleration: 5.0
+    # linear.x.max_jerk: 0.0
+    # linear.x.min_jerk: 0.0
+
+    # angular.z.has_velocity_limits: false
+    # angular.z.has_acceleration_limits: false
+    # angular.z.has_jerk_limits: false
+    # angular.z.max_velocity: 5.0
+    # angular.z.min_velocity: -5.0
+    # angular.z.max_acceleration: 10.0
+    # angular.z.min_acceleration: -10.0
+    # angular.z.max_jerk: 0.0
+    # angular.z.min_jerk: 0.0
+
+    linear.x.has_velocity_limits: true
+    linear.x.has_acceleration_limits: false
+    linear.x.has_jerk_limits: false
+    linear.x.max_velocity: 2.0
+    linear.x.min_velocity: -2.0
+    linear.x.min_acceleration: -5.0
+    linear.x.max_acceleration: 5.0
+    linear.x.max_jerk: 0.0
+    linear.x.min_jerk: 0.0
+
+    angular.z.has_velocity_limits: true
+    angular.z.has_acceleration_limits: true
+    angular.z.has_jerk_limits: false
+    angular.z.max_velocity: 6.28
+    angular.z.min_velocity: -6.28
+    angular.z.max_acceleration: 25.0
+    angular.z.min_acceleration: -25.0
+    angular.z.max_jerk: 0.0
+    angular.z.min_jerk: 0.0

config/mapper_params_online_async.yaml

@@ -0,0 +1,73 @@
+slam_toolbox:
+  ros__parameters:
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: base_footprint
+    scan_topic: /scan
+    mode: localization
+
+    # if you'd like to immediately start continuing a map at a given pose
+    # or at the dock, but they are mutually exclusive, if pose is given
+    # will use pose
+    map_file_name: /home/bjorn/Documents/ros-projects/cps_bot_mini_ws/my_map_serial
+    # map_start_pose: [0.0, 0.0, 0.0]
+    map_start_at_dock: true
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02 #if 0 never publishes odometry
+    map_update_interval: 5.0
+    resolution: 0.05
+    max_laser_range: 200.0 #for rastering images, standard was 20
+    minimum_time_interval: 0.5
+    transform_timeout: 0.2
+    tf_buffer_duration: 30.
+    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1  
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true 
+    loop_match_minimum_chain_size: 10           
+    loop_match_maximum_variance_coarse: 3.0  
+    loop_match_minimum_response_coarse: 0.35    
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters - Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1 
+
+    # Correlation Parameters - Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5      
+    angle_variance_penalty: 1.0    
+
+    fine_search_angle_offset: 0.00349     
+    coarse_search_angle_offset: 0.349   
+    coarse_angle_resolution: 0.0349        
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true

launch/cam.launch.py

@@ -0,0 +1,110 @@
+# Copyright 2022 Factor Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import LifecycleNode
+from launch_ros.descriptions import ParameterValue
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_description"),
+                    "urdf",
+                    "odrive_diffbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("bot_mini_bringup"),
+            "config",
+            "diffbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+    )
+
+    joystick_spawner = Node(
+        package="joy",
+        executable="joy_node"
+    )
+
+    teleop_spawner = Node(
+        package="rmp220_teleop",
+        executable="rmp220_teleop"
+    )
+
+    cam_node = Node(
+        package="ros2_cam_openCV",
+        executable="cam_node"
+    )
+
+    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
+    lidar_node = LifecycleNode(
+        package='lslidar_driver',
+        executable='lslidar_driver_node',
+        name='lslidar_driver_node',
+        output='screen',
+        emulate_tty=True,
+        namespace='',
+        parameters=[lidar_dir],
+    )
+
+    return LaunchDescription([
+        #control_node,
+        #robot_state_pub_node,
+        #joint_state_broadcaster_spawner,
+        #robot_controller_spawner,
+        #joystick_spawner,
+        #teleop_spawner,
+        cam_node,
+        #lidar_node
+    ])

launch/controller.launch.py

@@ -0,0 +1,110 @@
+# Copyright 2022 Factor Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import LifecycleNode
+from launch_ros.descriptions import ParameterValue
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_description"),
+                    "urdf",
+                    "odrive_diffbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("bot_mini_bringup"),
+            "config",
+            "diffbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+    )
+
+    joystick_spawner = Node(
+        package="joy",
+        executable="joy_node"
+    )
+
+    teleop_spawner = Node(
+        package="rmp220_teleop",
+        executable="rmp220_teleop"
+    )
+
+    cam_node = Node(
+        package="ros2_cam_openCV",
+        executable="cam_node"
+    )
+
+    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
+    lidar_node = LifecycleNode(
+        package='lslidar_driver',
+        executable='lslidar_driver_node',
+        name='lslidar_driver_node',
+        output='screen',
+        emulate_tty=True,
+        namespace='',
+        parameters=[lidar_dir],
+    )
+
+    return LaunchDescription([
+        control_node,
+        #robot_state_pub_node,
+        joint_state_broadcaster_spawner,
+        robot_controller_spawner,
+        #joystick_spawner,
+        #teleop_spawner,
+        #cam_node,
+        #lidar_node
+    ])

launch/joy_teleop.launch.py

@@ -0,0 +1,110 @@
+# Copyright 2022 Factor Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import LifecycleNode
+from launch_ros.descriptions import ParameterValue
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_description"),
+                    "urdf",
+                    "odrive_diffbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("bot_mini_bringup"),
+            "config",
+            "diffbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+    )
+
+    joystick_spawner = Node(
+        package="joy",
+        executable="joy_node"
+    )
+
+    teleop_spawner = Node(
+        package="rmp220_teleop",
+        executable="rmp220_teleop"
+    )
+
+    cam_node = Node(
+        package="ros2_cam_openCV",
+        executable="cam_node"
+    )
+
+    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
+    lidar_node = LifecycleNode(
+        package='lslidar_driver',
+        executable='lslidar_driver_node',
+        name='lslidar_driver_node',
+        output='screen',
+        emulate_tty=True,
+        namespace='',
+        parameters=[lidar_dir],
+    )
+
+    return LaunchDescription([
+        #control_node,
+        #robot_state_pub_node,
+        #joint_state_broadcaster_spawner,
+        #robot_controller_spawner,
+        joystick_spawner,
+        teleop_spawner,
+        #cam_node,
+        #lidar_node
+    ])

launch/lidar.launch.py

@@ -0,0 +1,110 @@
+# Copyright 2022 Factor Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import LifecycleNode
+from launch_ros.descriptions import ParameterValue
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_description"),
+                    "urdf",
+                    "odrive_diffbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("bot_mini_bringup"),
+            "config",
+            "diffbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+    )
+
+    joystick_spawner = Node(
+        package="joy",
+        executable="joy_node"
+    )
+
+    teleop_spawner = Node(
+        package="rmp220_teleop",
+        executable="rmp220_teleop"
+    )
+
+    cam_node = Node(
+        package="ros2_cam_openCV",
+        executable="cam_node"
+    )
+
+    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
+    lidar_node = LifecycleNode(
+        package='lslidar_driver',
+        executable='lslidar_driver_node',
+        name='lslidar_driver_node',
+        output='screen',
+        emulate_tty=True,
+        namespace='',
+        parameters=[lidar_dir],
+    )
+
+    return LaunchDescription([
+        #control_node,
+        #robot_state_pub_node,
+        #joint_state_broadcaster_spawner,
+        #robot_controller_spawner,
+        #joystick_spawner,
+        #teleop_spawner,
+        #cam_node,
+        lidar_node
+    ])

launch/mapper.launch.py

@@ -0,0 +1,131 @@
+# Copyright 2022 Factor Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import LifecycleNode
+from launch_ros.descriptions import ParameterValue
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_description"),
+                    "urdf",
+                    "odrive_diffbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("bot_mini_bringup"),
+            "config",
+            "diffbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+    )
+
+    joystick_spawner = Node(
+        package="joy",
+        executable="joy_node"
+    )
+
+    teleop_spawner = Node(
+        package="rmp220_teleop",
+        executable="rmp220_teleop"
+    )
+
+    cam_node = Node(
+        package="ros2_cam_openCV",
+        executable="cam_node"
+    )
+
+    use_sim_time = True
+    slam_params_file = PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_bringup"),
+                    "config",
+                    "mapper_params_online_async.yaml"
+                ]
+            )
+    mapper_node = Node(
+        package="slam_toolbox",
+        executable="async_slam_toolbox_node",
+        name='slam_toolbox_node',
+        output='screen',
+        parameters=[
+            slam_params_file,
+            {'use_sim_time': use_sim_time}
+        ],
+    )
+
+    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
+    lidar_node = LifecycleNode(
+        package='lslidar_driver',
+        executable='lslidar_driver_node',
+        name='lslidar_driver_node',
+        output='screen',
+        emulate_tty=True,
+        namespace='',
+        parameters=[lidar_dir],
+    )
+
+    return LaunchDescription([
+        #control_node,
+        #robot_state_pub_node,
+        #joint_state_broadcaster_spawner,
+        #robot_controller_spawner,
+        #joystick_spawner,
+        #teleop_spawner,
+        #cam_node,
+        #lidar_node,
+        mapper_node
+    ])

launch/rsp.launch.py

@@ -0,0 +1,110 @@
+# Copyright 2022 Factor Robotics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import LifecycleNode
+from launch_ros.descriptions import ParameterValue
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("bot_mini_description"),
+                    "urdf",
+                    "odrive_diffbot.urdf.xacro"
+                ]
+            ),
+        ]
+    )
+    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
+
+    robot_controllers = PathJoinSubstitution(
+        [
+            FindPackageShare("bot_mini_bringup"),
+            "config",
+            "diffbot_controllers.yaml",
+        ]
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_description, robot_controllers],
+        output="both",
+    )
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
+    )
+
+    robot_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
+    )
+
+    joystick_spawner = Node(
+        package="joy",
+        executable="joy_node"
+    )
+
+    teleop_spawner = Node(
+        package="rmp220_teleop",
+        executable="rmp220_teleop"
+    )
+
+    cam_node = Node(
+        package="ros2_cam_openCV",
+        executable="cam_node"
+    )
+
+    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
+    lidar_node = LifecycleNode(
+        package='lslidar_driver',
+        executable='lslidar_driver_node',
+        name='lslidar_driver_node',
+        output='screen',
+        emulate_tty=True,
+        namespace='',
+        parameters=[lidar_dir],
+    )
+
+    return LaunchDescription([
+        #control_node,
+        robot_state_pub_node,
+        #joint_state_broadcaster_spawner,
+        #robot_controller_spawner,
+        #joystick_spawner,
+        #teleop_spawner,
+        #cam_node,
+        #lidar_node
+    ])

setup.py

@@ -13,6 +13,7 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'config'), glob('config/*.yaml'))
     ],
     install_requires=['setuptools'],
     zip_safe=True,