agv_ros_ws/space_server_new/launch/space_run.launch

<launch>
  <param name="/use_sim_time" value="false" />
    <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="space_server" type="server_node" name="space_server_node" />
  <node pkg ="space_slam" type= "slam_node" name="location"/>
  <node pkg ="space_nav" type= "nav_node" name="nav"/>

  <!-- <include file="$(find sick_safetyscanners)/launch/laser.launch"/> -->
  
</launch>