update

launch/robot_lidar.launch.py

@@ -1,20 +1,70 @@
+#!/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='view_sllidar_launch',
+            executable='sllidar_node',
             output='screen',
             parameters=[{
                 'serial_port': 'usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_3453995662b3af4f81f4a69eba5f3f29-if00-port0',
                 'frame_id': 'laser_frame',
-                'angle_compensate': True,
-                'scan_mode': 'Sensitivity'
+                'scan_mode': 'Sensitivity',
+                'channel_type':channel_type,
+                'serial_baudrate': serial_baudrate,
+                'inverted': inverted, 
+                'angle_compensate': angle_compensate
             }]
         )
     ])