Support URG for SLAM sample

config/urg_config.yml

@@ -0,0 +1,19 @@
+# Ref:https://github.com/ros-drivers/urg_node/blob/foxy-devel/launch/urg_node_serial.yaml
+urg_node:
+  ros__parameters:
+    angle_max: 3.14
+    angle_min: -3.14
+    ip_port: 10940
+    serial_port: "/dev/ttyACM0"
+    serial_baud: 115200
+    laser_frame_id: "laser"
+    calibrate_time: false
+    default_user_latency: 0.0
+    diagnostics_tolerance: 0.05
+    diagnostics_window_time: 5.0
+    error_limit: 4
+    get_detailed_status: false
+    publish_intensity: false
+    publish_multiecho: false
+    cluster: 1
+    skip: 0

launch/mouse_with_lidar.launch.py

@@ -19,14 +19,17 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+from launch_ros.actions import Node
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import LifecycleNode
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
     declare_lidar = DeclareLaunchArgument(
         'lidar', default_value='lds',
-        description='LiDAR: lds only, for now.'
+        description='Set LiDAR name: [lds, urg]'
     )
 
     mouse_node = LifecycleNode(
@@ -44,6 +47,21 @@ def func_launch_lidar_node(context):
                     'launch'),
                     '/hlds_laser.launch.py'
                     ]),)]
+
+        elif context.launch_configurations['lidar'] == 'urg':
+            param_file = os.path.join(
+                get_package_share_directory('raspimouse_ros2_examples'),
+                'config',
+                'urg_config.yml')
+
+            return [
+                SetLaunchConfiguration('param', param_file),
+                Node(
+                    package='urg_node',
+                    node_executable='urg_node_driver',
+                    output='screen',
+                    parameters=[LaunchConfiguration('param')]
+                )]
     launch_lidar_node = OpaqueFunction(function=func_launch_lidar_node)
 
     ld = LaunchDescription()

launch/slam.launch.py

@@ -15,10 +15,17 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    declare_lidar = DeclareLaunchArgument(
+        'lidar', default_value='lds',
+        description='Set LiDAR name: [lds, urg]'
+    )
+
     slam_node = Node(
         package='slam_toolbox', node_executable='sync_slam_toolbox_node',
         output='screen',
@@ -38,16 +45,26 @@ def generate_launch_description():
             + '/config/default.rviz'],
     )
 
-    static_transform_publisher_node = Node(
-        package='tf2_ros',
-        node_executable='static_transform_publisher', output='screen',
-        arguments=['0', '0', '0.1', '0', '3.14',
-                   '3.14', 'base_footprint', 'laser'],
-    )
+    def run_transform_publisher(context):
+        if context.launch_configurations['lidar'] == 'lds':
+            return [Node(
+                package='tf2_ros',
+                node_executable='static_transform_publisher', output='screen',
+                arguments=['0', '0', '0.1', '0', '3.14', '3.14',
+                           'base_footprint', 'laser'])]
+        elif context.launch_configurations['lidar'] == 'urg':
+            return [Node(
+                package='tf2_ros',
+                node_executable='static_transform_publisher', output='screen',
+                arguments=['0', '0', '0.14', '0', '0', '0',
+                           'base_footprint', 'laser'])]
+
+    transform_node = OpaqueFunction(function=run_transform_publisher)
 
     ld = LaunchDescription()
+    ld.add_action(declare_lidar)
     ld.add_action(slam_node)
     ld.add_action(rviz2_node)
-    ld.add_action(static_transform_publisher_node)
+    ld.add_action(transform_node)
 
     return ld

package.xml

@@ -23,6 +23,7 @@
   <depend>std_srvs</depend>
   <depend>v4l-utils</depend>
   <depend>hls_lfcd_lds_driver</depend>
+  <depend>urg_node</depend>
   <depend>nav2_map_server</depend>
   <depend>slam_toolbox</depend>