Refactor gpu_lidar_bridge demo

Signed-off-by: Carlos Agüero <[email protected]>

ros_gz_sim_demos/CMakeLists.txt

@@ -9,6 +9,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
 install(
   DIRECTORY
     launch/

ros_gz_sim_demos/README.md

@@ -102,7 +102,7 @@ GPU lidar data can be obtained as:
 
 Using the bridge:
 
-    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py
+    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.xml
 
 *TODO*: Blocked by `ros_gz_point_cloud` [issue](https://github.com/gazebosim/ros_gz/issues/40).
 

ros_gz_sim_demos/config/gpu_lidar.yaml

@@ -0,0 +1,18 @@
+# GPU lidar configuration.
+- ros_topic_name: "/lidar"
+  gz_topic_name: "/lidar"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  subscriber_queue: 5
+  publisher_queue: 6
+  lazy: false
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/lidar/points"
+  gz_topic_name: "/lidar/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  subscriber_queue: 5
+  publisher_queue: 6
+  lazy: false
+  direction: GZ_TO_ROS

ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml

@@ -0,0 +1,6 @@
+<launch>
+  <gz_server world_sdf_file="gpu_lidar_sensor.sdf" use_composition="True" create_own_container="True" />
+  <ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/gpu_lidar.yaml" use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/gpu_lidar_bridge.rviz" />
+  <executable cmd="gz sim -g" />
+</launch>