X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=launch%2Fwild_thumper.launch;h=834a5881c80f59bce59aff9befcfd9c5027a0c7e;hp=a1abfafe009aad3d99ed5889f5ad9cbb39267ed4;hb=2df437a779847070d89c37f8f79776acc5446193;hpb=c29777d09b3e8460510d2ec8d8c3916eea3468c1

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index a1abfaf..834a588 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -57,4 +57,17 @@
 
 	<node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
 	<node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
+
+	<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
+		<param name="serial_port"         type="string" value="/dev/rplidar"/>
+		<param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
+		<param name="frame_id"            type="string" value="lidar"/>
+		<param name="angle_compensate"    type="bool"   value="true"/>
+		<param name="scan_mode"		  type="string"	value="Standard"/>
+		<!--
+		A2 scan_modes:
+		Standard: max_distance: 16.0 m, Point number: 2.0K
+		Express: max_distance: 16.0 m, Point number: 4.0K
+		 -->
+	</node>
 </launch>