Change launch files to python

launch/laserscan_multi_merger.launch.py

@@ -0,0 +1,29 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    laserscan_multi_merger = Node(
+        package='ira_laser_tools',
+        namespace='',
+        executable='laserscan_multi_merger',
+        name='laserscan_multi_merger',
+        output='screen',
+        parameters=[{
+            'destination_frame': 'base_link',
+            'cloud_destination_topic': '/merged_cloud',
+            'scan_destination_topic': '/scan_multi',
+            'laserscan_topics': '/scansx /scandx',
+            # LIST OF THE LASER SCAN TOPICS TO SUBSCRIBE
+            'angle_min': -3.14,
+            'angle_max': 3.14,
+            'angle_increment': 0.00437,
+            'scan_time': 0.0,
+            'range_min': 0.1,
+            'range_max': 2.0,
+        }],
+    )
+
+    description = LaunchDescription()
+    description.add_action(laserscan_multi_merger)
+    return description

launch/laserscan_virtualizer.launch.py

@@ -0,0 +1,48 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    tf_node_1 = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name='ira_static_broadcaster1',
+        arguments=['0', '0', '0', '0.3', '0', '0', 'base_link', 'scansx'],
+    )
+
+    tf_node_2 = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name='ira_static_broadcaster2',
+        arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'scandx'],
+    )
+
+    laserscan_virtualizer = Node(
+        package='ira_laser_tools',
+        namespace='',
+        executable='laserscan_virtualizer',
+        name='laserscan_virtualizer',
+        output='screen',
+        parameters=[{
+            # INPUT POINT CLOUD
+            "cloud_topic": "/trunk4_camera_depth_camera/points",
+            # REFERENCE FRAME WHICH LASER(s) ARE RELATED
+            "base_frame": "base_link",
+            # VIRTUAL LASER OUTPUT TOPIC, LEAVE VALUE EMPTY TO PUBLISH ON THE VIRTUAL LASER NAMES (param: output_laser_scan)
+            "output_laser_topic": "/scan",
+            # LIST OF THE VIRTUAL LASER SCANS. YOU MUST PROVIDE THE STATIC TRANSFORMS TO TF, SEE ABOVE
+            "virtual_laser_scan": "scansx scandx",
+            'angle_min': -3.14,
+            'angle_max': 3.14,
+            'angle_increment': 0.00437,
+            'scan_time': 0.0,
+            'range_min': 0.1,
+            'range_max': 2.0,
+        }],
+    )
+
+    description = LaunchDescription()
+    description.add_action(tf_node_1)
+    description.add_action(tf_node_2)
+    description.add_action(laserscan_virtualizer)
+    return description