Improve launch scripts and fix topic name in client.

Author: jgoppert

launch/rplidar.launch

@@ -1,9 +1,19 @@
 <launch>
+	<arg name="serial_port" default="/dev/ttyUSB0"/>
+	<arg name="serial_baudrate" default="115200"/>
+	<arg name="frame_id" default="laser"/>
+	<arg name="inverted" default="false"/>
+	<arg name="angle_compensate" default="true"/>
+	<arg name="motor_pwm" default="660"/>
+
   <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"/>
-  <param name="frame_id"            type="string" value="laser"/>
-  <param name="inverted"            type="bool"   value="false"/>
-  <param name="angle_compensate"    type="bool"   value="true"/>
+		<param name="serial_port"         type="string" value="$(arg serial_port)"/>  
+		<param name="serial_baudrate"     type="int"    value="$(arg serial_baudrate)"/>
+		<param name="frame_id"            type="string" value="$(arg frame_id)"/>
+		<param name="inverted"            type="bool"   value="$(arg inverted)"/>
+		<param name="angle_compensate"    type="bool"   value="$(arg angle_compensate)"/>
+		<param name="motor_pwm"    		    type="int"    value="$(arg motor_pwm)"/>
   </node>
 </launch>
+
+<!-- vim: set noet fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->

launch/test_rplidar.launch

@@ -1,12 +1,6 @@
 <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"/>
-  <param name="frame_id"            type="string" value="laser"/>
-  <param name="inverted"            type="bool"   value="false"/>
-  <param name="angle_compensate"    type="bool"   value="true"/>
- 
- </node>
-  <node name="rplidarNodeClient"          pkg="rplidar_ros"  type="rplidarNodeClient" output="screen">
-  </node>
+  <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
+  <node name="rplidarNodeClient" pkg="rplidar_ros"  type="rplidarNodeClient" output="screen"/>
 </launch>
+
+<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->

launch/view_rplidar.launch

@@ -4,7 +4,8 @@
   It requires rplidar.launch.
  -->
 <launch>
-  <include file="$(find rplidar_ros)/launch/rplidar.launch" />
-
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz" />
+  <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz"/>
 </launch>
+
+<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->

src/client.cpp

@@ -57,7 +57,7 @@ int main(int argc, char **argv)
     ros::init(argc, argv, "rplidar_node_client");
     ros::NodeHandle n;
 
-    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/scan", 1000, scanCallback);
+    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/rplidarNode/scan", 1000, scanCallback);
 
     ros::spin();