Initial commit

sensors/rslidar_sdk-v1.5.17/launch/elequent_start.py

@@ -0,0 +1,21 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+def generate_launch_description():
+    rviz_config=get_package_share_directory('rslidar_sdk')+'/rviz/rviz2.rviz'
+    return LaunchDescription([
+        Node(
+            package='rslidar_sdk',
+            node_namespace='rslidar_sdk',
+            node_name='rslidar_sdk_node',
+            node_executable='rslidar_sdk_node',
+            output='screen'
+        ),
+        Node(
+            package='rviz2',
+            node_namespace='rviz2',
+            node_name='rviz2',
+            node_executable='rviz2',
+            arguments=['-d',rviz_config]
+        )
+    ])

sensors/rslidar_sdk-v1.5.17/launch/start.py

@@ -0,0 +1,14 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    rviz_config=get_package_share_directory('rslidar_sdk')+'/rviz/rviz2.rviz'
+
+    config_file = '' # your config file path
+    
+    return LaunchDescription([
+        Node(namespace='rslidar_sdk', package='rslidar_sdk', executable='rslidar_sdk_node', output='screen', parameters=[{'config_path': config_file}]),
+        Node(namespace='rviz2', package='rviz2', executable='rviz2', arguments=['-d',rviz_config])
+    ])

sensors/rslidar_sdk-v1.5.17/launch/start_rslidar.launch

@@ -0,0 +1,7 @@
+<launch>
+  <node pkg="rslidar_sdk" name="rslidar_sdk_node" type="rslidar_sdk_node" output="screen">
+    <param name="config_path" value=""/>
+  </node>
+  <!-- rviz -->
+  <node pkg="rviz" name="rviz" type="rviz" args="-d $(find rslidar_sdk)/rviz/rviz.rviz" />
+</launch>