fix missing luminar lidar launch file

Author: szepilot

launch/drivers/lidar_luminar.launch.py

@@ -0,0 +1,41 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+from launch.conditions import IfCondition
+from launch.substitutions import PythonExpression
+
+def generate_launch_description():
+    ros_sample_dir = get_package_share_directory('luminar_driver')
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'lidar_id', default_value='luminar_lidar_151',
+        ),
+        DeclareLaunchArgument(
+            'lidar_data_port', default_value='4370',
+        ),
+        DeclareLaunchArgument(
+            'use_rviz', default_value='false',
+        ),
+        DeclareLaunchArgument(
+            'combined_config', default_value=f'{ros_sample_dir}/rviz/combined_mode.rviz',
+        ),
+        Node(
+            package='luminar_driver',
+            executable='luminar_driver',
+            name='luminar_driver',
+            output='screen',
+            parameters=[
+                {'lidar_data_port': LaunchConfiguration('lidar_data_port')},
+            ],
+        ),
+        Node(
+            condition=IfCondition(PythonExpression(["'", LaunchConfiguration('use_rviz'), "'=='true'"])),
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', LaunchConfiguration('combined_config')],
+        ),
+    ])