From 60750e9ed2f0ecdb8f6250ca4c396238e8a0447a Mon Sep 17 00:00:00 2001
From: Franz Pucher <franz.pucher@gmail.com>
Date: Sat, 22 Jan 2022 12:27:35 +0100
Subject: [PATCH] fix rplidar_laser_link name issue (#40, #53)

- Rename rplidar_gpu_laser_link to rplidar_laser_link in bringup_with_laser.launch
- Add rplidar.launch to diffbot_bringup to support framed_id argument
- Make use of new diffbot_bringup/launch/rplidar.launch in bringup_with_laser.launch

This solves issues in RViz:
Transform [sender=unknown_publisher]
For frame [rplidar_gpu_laser_link]: Frame [rplidar_gpu_laser_link] does not exist

and in the terminal from whic diffbot_slam is launched:

[ WARN] [1635345613.864692611]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_filter] rosconsole logger to DEBUG for more information.
---
 diffbot_bringup/launch/bringup_with_laser.launch |  4 ++--
 diffbot_bringup/launch/rplidar.launch            | 12 ++++++++++++
 2 files changed, 14 insertions(+), 2 deletions(-)
 create mode 100644 diffbot_bringup/launch/rplidar.launch

diff --git a/diffbot_bringup/launch/bringup_with_laser.launch b/diffbot_bringup/launch/bringup_with_laser.launch
index b149a90d..200f8f7a 100644
--- a/diffbot_bringup/launch/bringup_with_laser.launch
+++ b/diffbot_bringup/launch/bringup_with_laser.launch
@@ -1,5 +1,5 @@
 <launch>
-    <arg name="laser_frame_id" default="rplidar_gpu_laser_link" />
+    <arg name="laser_frame_id" default="rplidar_laser_link" />
     <!--arg name="model" default="$(env DIFFBOT_MODEL)" doc="model type [diffbot, remo]"/-->
     <arg name="model" default="diffbot" doc="model type [diffbot, remo]"/>
 
@@ -22,7 +22,7 @@
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
         output="screen" ns="diffbot" />
 
-    <include file="$(find rplidar_ros)/launch/rplidar.launch" ns="diffbot">
+    <include file="$(find diffbot_bringup)/launch/rplidar.launch" ns="diffbot">
         <arg name="laser_frame_id" value="$(arg laser_frame_id)" />
     </include>
 
diff --git a/diffbot_bringup/launch/rplidar.launch b/diffbot_bringup/launch/rplidar.launch
new file mode 100644
index 00000000..a1572b2b
--- /dev/null
+++ b/diffbot_bringup/launch/rplidar.launch
@@ -0,0 +1,12 @@
+<launch>
+  <arg name="laser_frame_id" default="rplidar_laser_link" />
+
+  <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"/><!--A1/A2 -->
+  <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->
+  <param name="frame_id"            type="string" value="$(arg laser_frame_id)"/>
+  <param name="inverted"            type="bool"   value="false"/>
+  <param name="angle_compensate"    type="bool"   value="true"/>
+  </node>
+</launch>
\ No newline at end of file