lidar.launch

<!--
  Launcher for LIDAR
  This requires:
      Phidgets advanced servo controller
      Phidgets 8/8/8 interface kit
      IR Sensors connected to the interface kit
      Pan servo connected to servo 0
      Tilt servo connected to servo 1
  -->
<launch>
    <!-- Machine settings. See http://www.ros.org/wiki/roslaunch/XML/machine -->
    <machine name="local_alt" address="localhost" default="true" />
    <!-- phidgets advanced servo controller -->
    <node pkg="phidgets" type="advanced_servo" name="advanced_servo" respawn="true" output="screen">
        <!-- phidget device serial number -->
        <param name="serial" value="-1" />
    </node>
    <!-- phidgets 8/8/8 interface kit -->
    <node pkg="phidgets" type="interface_kit" name="interface_kit" respawn="true">
        <!-- phidget device serial number -->
        <param name="serial" value="-1" />
    </node>
    <!-- LIDAR -->
    <node pkg="phidgets" type="lidar" name="lidar" respawn="true" output="screen">
        <!-- pan servo index -->
        <param name="panservo" value="0" />
        <!-- pan servo index -->
        <param name="tiltservo" value="1" />
        <!-- start index of the sensor on the 8/8/8 interface kit -->
        <param name="sensor" value="3" />
        <!-- type of range sensors -->
        <param name="sensortype" value="0" />
        <!-- number of IR range sensors -->
        <param name="sensors" value="4" />
        <!-- leftmost position in servo coordinates -->
        <param name="left" value="100" />
        <!-- rightmost position in servo coordinates -->
        <param name="right" value="160" />
        <!-- leftmost position in degrees -->
        <param name="leftdegrees" value="-45" />
        <!-- rightmost position in degrees -->
        <param name="rightdegrees" value="45" />
        <!-- cycle time in seconds -->
        <param name="cycletime" value="3" />
        <!-- speed of movement of the servos -->
        <param name="speed" value="30" />
    </node>
</launch>