ROS2 driver for Lanhai USB/Network 2D LiDAR

1) Clone this project to your workspace src folder
2) cd  ..
3) Running `colcon build` to build  (The following commands are executed in this directory)

1. Copy UDEV rule file : sudo cp src/LHLiDAR.rules /etc/udev/rules.d/
2. or Run : sudo chmod 666 /dev/ttyUSB0 # make usb serial port readable

• ros2 launch bluesea2 LDS-50C-2.py

• ros2 launch bluesea2 LDS-50C-C30E.py

• ros2 launch bluesea2 LDS-50C-C20E.py

• ros2 launch bluesea2 LDS-40D-C20E.py

3. optional : ros2 topic hz /scan

4. optional : rviz2 #

• client:

    ros2 run bluesea2  bluesea_node_client start 
  
    ros2 run bluesea2 bluesea_node_client stop 
  

• server:

    ros2 launch  bluesea2  xxxx.launch