Multi LiDAR를 위한 FutureDrive ROS2 NIRO 코드 셋팅

• 압축 파일명: future_ros2.zip

sensor_kit.xacro

• Left, right LiDAR 추가로 인한 left, right frame_id 추가

<xacro:VLP-16  
      parent="sensor_kit_base_link"  
      name="rslidar_left"  
      topic="/left/rslidar_points"  
      hz="10"  
      samples="220"  
      gpu="false"  
    >  
      <origin  
        xyz="${calibration['sensor_kit_base_link']['rslidar_left_base_link']['x']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['y']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['z']}"  
        rpy="${calibration['sensor_kit_base_link']['rslidar_left_base_link']['roll']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['pitch']}  
             ${calibration['sensor_kit_base_link']['rslidar_left_base_link']['yaw']}"  
      />  
    </xacro:VLP-16>

sensor_kit_calibration.yaml

• 각 frame_id와 base_link 간 연결 관계 추가

rslidar_left_base_link:
	x: 0.0
	y: 0.629
	z: 0.42
	roll: -1.396267
	pitch: 0.0
	yaw: 0.0

robosense_lidar_node.launch.py

• concatenate_data node 추가

nodes.append(
        ComposableNode(
            package="pointcloud_preprocessor",
            plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
            name="concatenate_data",
            remappings=[("output", "concat_3lidars/pointcloud")],
            parameters=[{
	            "input_topics": [
					"pointcloud_raw_ex","/left/rslidar_points","/right/rslidar_points",
					],
				"output_frame": LaunchConfiguration("base_frame"),
				}],
            extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
        )
    )