<launch>

<!-- A simple launch file for the urg_node package. -->

<!--  When using an IP-connected LIDAR, populate the "ip_address" parameter with the address of the LIDAR.
      Otherwise, leave it blank. If supported by your LIDAR, you may enable the publish_intensity
      and/or publish_multiecho options. -->

  <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
    <param name="scan_id" value="scan"/>
    <param name="ip_address" value="192.168.1.201"/>
    <param name="serial_port" value="/dev/ttyACM0"/>
    <param name="serial_baud" value="115200"/>
    <param name="frame_id" value="laser"/>
    <param name="calibrate_time" value="true"/>
    <param name="publish_intensity" value="false"/>
    <param name="publish_multiecho" value="false"/>
    <param name="angle_min" value="-2.35619449"/>
    <param name="angle_max" value="2.35619449"/>

    <!--param name="angle_min" value="-1.570796"/-->
    <!--param name="angle_max" value="1.570796"/-->
    
  </node>

</launch>
