agv_ros_ws/server/launch/start.launch

<?xml version="1.0"?>
<launch>
  <node pkg="free_lidar" type="free_lidar_node" name="front_lidar_node" respawn="true" output="screen">
    <param name="frame_id" type="string" value="front"/>
    <param name="scanner_type" type="string" value="H1"/>
    <param name="scanner_ip" type="string" value="10.0.1.11"/>
    <param name="port_name" type="string" value="/dev/ttyUSB0"/>
    <param name="scan_frequency" type="int" value="30"/>
    <param name="scan_resolution" type="int" value="1000"/>    <!-- value = 1000 表示 角分辨率是0.1度 -->
    <param name="start_angle" type="int" value="-20"/>
    <param name="stop_angle" type="int" value="190"/>
    <param name="offset_angle" type="int" value="-90"/>
    <param name="filter_switch" type="bool" value="true"/>
    <param name="is_ethernet" type="bool" value="true"/>  
</node>

<node pkg="free_lidar" type="free_lidar_node" name="back_lidar_node" respawn="true" output="screen">
    <param name="frame_id" type="string" value="back"/>
    <param name="scanner_type" type="string" value="H1"/>
    <param name="scanner_ip" type="string" value="10.0.1.12"/>
    <param name="port_name" type="string" value="/dev/ttyUSB0"/>
    <param name="scan_frequency" type="int" value="30"/>
    <param name="scan_resolution" type="int" value="1000"/>
    <param name="start_angle" type="int" value="-15"/>
    <param name="stop_angle" type="int" value="185"/>
    <param name="offset_angle" type="int" value="-90"/>
    <param name="filter_switch" type="bool" value="true"/>
    <param name="is_ethernet" type="bool" value="true"/>  
</node>

<node pkg="server" type="server_node" name="server_node" respawn="true" output="screen"></node>

<include file="$(find server)/launch/navigation_start.launch"/>



</launch>