agv_ros_ws/laser_h1/launch/free_lidar.launch

<?xml version="1.0"?>
<launch>
  <arg name="frame_id" default="/scan"/>
  <arg name="scanner_type" default="H1"/>
  <arg name="scanner_ip" default="192.168.1.111"/>
  <arg name="port_name" default="/dev/ttyUSB0"/>
  <arg name="scan_frequency" default="30"/>
  <arg name="scan_resolution" default="1000"/>
  <arg name="start_angle" default="-45"/>
  <arg name="stop_angle" default="225"/>
  <arg name="offset_angle" default="-90"/>
  <arg name="filter_switch" default="true"/>
  <arg name="is_ethernet" default="true"/>
  <!-- Free Lidar -->
  <node pkg="free_lidar" type="free_lidar_node" name="free_lidar_node" respawn="true" output="screen">
    <param name="frame_id" type="string" value="$(arg frame_id)"/>
    <param name="scanner_type" type="string" value="$(arg scanner_type)"/>
    <param name="scanner_ip" type="string" value="$(arg scanner_ip)"/>
    <param name="port_name" type="string" value="$(arg port_name)"/>
    <param name="scan_frequency" type="int" value="$(arg scan_frequency)"/>
    <param name="scan_resolution" type="int" value="$(arg scan_resolution)"/>
    <param name="start_angle" type="int" value="$(arg start_angle)"/>
    <param name="stop_angle" type="int" value="$(arg stop_angle)"/>
    <param name="offset_angle" type="int" value="$(arg offset_angle)"/>
    <param name="filter_switch" type="bool" value="$(arg filter_switch)"/>
    <param name="is_ethernet" type="bool" value="$(arg is_ethernet)"/>  </node>

  <!-- RVIZ -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find free_lidar)/rviz/free_lidar.rviz" required="true" />

</launch>