From 3ae26768da29d86d2ca61e3039e5ae7cb121199e Mon Sep 17 00:00:00 2001
From: "ly.pechvattana" <ly.pechvattana@ecam.fr>
Date: Wed, 6 Sep 2023 21:34:18 -0700
Subject: [PATCH] adding lidar

---
 src/agv_description/launch/agv_core.launch  |  4 ++++
 src/agv_description/launch/agv_lidar.launch | 10 ++++++++++
 2 files changed, 14 insertions(+)
 create mode 100644 src/agv_description/launch/agv_core.launch
 create mode 100644 src/agv_description/launch/agv_lidar.launch

diff --git a/src/agv_description/launch/agv_core.launch b/src/agv_description/launch/agv_core.launch
new file mode 100644
index 0000000..67091b6
--- /dev/null
+++ b/src/agv_description/launch/agv_core.launch
@@ -0,0 +1,4 @@
+<launch>
+<node pkg="rosserial_arduino" type="serial_node.py" name="rosserial" 
+    respawn="true"  args="_port:=/dev/ttyACM0"/>
+</launch>
\ No newline at end of file
diff --git a/src/agv_description/launch/agv_lidar.launch b/src/agv_description/launch/agv_lidar.launch
new file mode 100644
index 0000000..9895fbe
--- /dev/null
+++ b/src/agv_description/launch/agv_lidar.launch
@@ -0,0 +1,10 @@
+<launch>
+  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+    <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
+    <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
+    <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->
+    <param name="frame_id"            type="string" value="laser_frame"/>
+    <param name="inverted"            type="bool"   value="false"/>
+    <param name="angle_compensate"    type="bool"   value="true"/>
+  </node>
+</launch>
\ No newline at end of file