add ROS 2 launch scripts for starting the AGV Pro

Lslidar_ROS2_driver/lslidar_driver/launch/lslidar_launch.py

@@ -22,19 +22,7 @@ def generate_launch_description():
                                 parameters=[driver_dir],
                                 )
 
-
-    rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz')
-
-    rviz_node = Node(
-        package='rviz2',
-        namespace='',
-        executable='rviz2',
-        name='rviz2',
-        arguments=['-d', rviz_dir],
-        output='screen')
-
     return LaunchDescription([
-        driver_node,
+        driver_node
-        rviz_node,
     ])
 

Lslidar_ROS2_driver/lslidar_driver/params/lsx10.yaml

@@ -7,7 +7,7 @@
     device_ip_difop: 192.168.1.102                          #雷达目的ip
     msop_port: 2368                                         #雷达目的端口号
     difop_port: 2369                                        #雷达源端口号
-    lidar_name: M10                                         #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
+    lidar_name: N10_P                                       #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
     angle_disable_min: 0.0                                  #角度裁剪开始值
     angle_disable_max: 0.0                                  #角度裁剪结束值
     min_range: 0.0                                          #雷达接收距离最小值
@@ -15,11 +15,11 @@
     use_gps_ts: false                                       #雷达是否使用GPS授时
     scan_topic: /scan                                       #设置激光数据topic名称
     interface_selection: serial                             #接口选择:net 为网口,serial 为串口。
-    serial_port_: /dev/ttyUSB0                              #串口连接时的串口号
+    serial_port_: /dev/agv_lidar                            #串口连接时的串口号
     high_reflection: false                                  #M10_P雷达需填写该值,若不确定，请联系技术支持。
     compensation: false				                              #M10系列是否使用角度补偿功能
     pubScan: true                                           #是否发布scan话题
     pubPointCloud2: false                                    #是否发布pointcloud2话题
     pointcloud_topic: /lslidar_point_cloud                  #设置激光数据topic名称
 #    pcap: /home/ls/1.pcap                                  #雷达是否使用pcap包读取功能
-#    in_file_name: /home/ls/1.txt                           #雷达是否使用txt文件读取功能
+#    in_file_name: /home/ls/1.txt                           #雷达是否使用txt文件读取功能

agv_pro_bringup/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_pro_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

agv_pro_bringup/launch/agv_pro_bringup.launch.py

@@ -0,0 +1,58 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    port_name_arg = LaunchConfiguration('port_name',default='ttyS0')
+    namespace = LaunchConfiguration('namespace', default='')
+
+    urdf_file = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'urdf',
+        'agv_pro.urdf'
+    )
+
+    with open(urdf_file, 'r') as file:
+        robot_description_content = file.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'port_name', 
+            default_value=port_name_arg,
+            description='port name, e.g. ttyS0'),
+
+        Node(
+            package='agv_pro_base',
+            executable='agv_pro_node',
+            name='agv_pro_node',
+            output='screen',
+            parameters=[{
+                'port_name': port_name_arg,
+                'namespace': namespace,             
+            }],
+        ),
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            parameters=[{'robot_description': robot_description_content}]
+        ),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('lslidar_driver'),'launch'),
+                'lslidar_launch.py'])
+        )
+    ])

agv_pro_bringup/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>agv_pro_bringup</name>
+  <version>1.0.0</version>
+  <description>ROS 2 launch scripts for starting the AGV Pro</description>
+  <maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
+  <license>BSD-3-Clause license</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>agv_pro_description</exec_depend>
+  <exec_depend>agv_pro_base</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>