mg_lidar/CMakeLists.txt

@@ -46,12 +46,11 @@ install( TARGETS
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# install(DIRECTORY
-#   mg_scanner
-#   config
-#   launch
-#   DESTINATION share/${PROJECT_NAME}/
-# )
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
 
 target_compile_features(mg_scanner PUBLIC 
   c_std_99

mg_lidar/config/lidar.yaml

@@ -0,0 +1,4 @@
+rplidar_node:
+  ros__parameters:
+    scan_mode: "ppbig"
+    topic_name: "base-link"

mg_lidar/launch/launch.py

@@ -0,0 +1,28 @@
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_lidar")
+
+    lidar_config = PathJoinSubstitution([basedir, "config/lidar.yaml"])
+
+    return LaunchDescription([
+        Node(
+            package='mg_lidar',
+            executable='mg_scanner',
+            output="screen",
+            parameters=[lidar_config]
+        ),
+        Node(
+            package='rplidar_ros',
+            executable='rplidar_composition',
+            output="screen",
+            parameters=[lidar_config]
+        ),
+    ])
+