cps_rmp220_support/launch/robot_lidar.launch.py

#!/usr/bin/env python3

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import LogInfo
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():
    channel_type =  LaunchConfiguration('channel_type', default='serial')
    serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0')
    serial_baudrate = LaunchConfiguration('serial_baudrate', default='115200') #for A1/A2 is 115200
    frame_id = LaunchConfiguration('frame_id', default='laser')
    inverted = LaunchConfiguration('inverted', default='false')
    angle_compensate = LaunchConfiguration('angle_compensate', default='true')
    scan_mode = LaunchConfiguration('scan_mode', default='Sensitivity')

    return LaunchDescription([
        DeclareLaunchArgument(
            'channel_type',
            default_value=channel_type,
            description='Specifying channel type of lidar'),
        
        DeclareLaunchArgument(
            'serial_port',
            default_value=serial_port,
            description='Specifying usb port to connected lidar'),

        DeclareLaunchArgument(
            'serial_baudrate',
            default_value=serial_baudrate,
            description='Specifying usb port baudrate to connected lidar'),
        
        DeclareLaunchArgument(
            'frame_id',
            default_value=frame_id,
            description='Specifying frame_id of lidar'),

        DeclareLaunchArgument(
            'inverted',
            default_value=inverted,
            description='Specifying whether or not to invert scan data'),

        DeclareLaunchArgument(
            'angle_compensate',
            default_value=angle_compensate,
            description='Specifying whether or not to enable angle_compensate of scan data'),
        DeclareLaunchArgument(
            'scan_mode',
            default_value=scan_mode,
            description='Specifying scan mode of lidar'),

        Node(
            package='sllidar_ros2',
            executable='sllidar_node',
            output='screen',
            parameters=[{
                'serial_port': serial_port,
                'frame_id': 'laser_frame',
                'scan_mode': 'Sensitivity',
                'channel_type':channel_type,
                'serial_baudrate': serial_baudrate,
                'inverted': inverted, 
                'angle_compensate': angle_compensate
            }]
        )
    ])