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lidar.launch
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lidar.launch
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<launch>
<arg name="host" default="192.168.2.102" />
<!-- TFs -->
<!-- base_link tf: Center of scooter (Reference to wheel height) -->
<node pkg="tf" type="static_transform_publisher" name="map_to_base_link" args="0 0 0.085 0 0 0 map base_link 100" />
<!-- Hokuyo Lidar-->
<node pkg="urg_node" type="urg_node" name="urg_node" output="screen">
<rosparam>
publish_intensity: true
angle_min: -2.2689
angle_max: 2.2689
cluster: 1
skip: 0
ip_address: 192.168.2.110
ip_port: 10940
frame_id: laser
calibrate_time: true
time_offset: 0.0
publish_multiecho: false
</rosparam>
<remap from="scan" to="scanH" />
</node>
<!-- Hokuyo Lidar tf -->
<node pkg="tf" type="static_transform_publisher" name="base_link_to_h_laser" args="0.47 -0.075 0.29 0.06981 0 0 base_link laser 100" />
<!-- SICK Lidar -->
<node pkg="lms1xx" name="lms1xx" type="LMS1xx_node">
<param name="host" value="$(arg host)" />
<remap from="scan" to="scanS" />
</node>
<!-- SICK Lidar tf -->
<node pkg="tf" type="static_transform_publisher" name="base_link_to_s_laser" args="-0.46 0 1.68 0 0.3491 0 base_link laser2 100" />
</launch>