added python launch and yaml file

CMakeLists.txt

@@ -77,7 +77,7 @@ install(TARGETS laserscan_multi_merger laserscan_virtualizer
 )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
-install(DIRECTORY launch/
+install(DIRECTORY launch/ config/
   DESTINATION share/${PROJECT_NAME}/launch
 )
 

config/ira_laserscan_merge.yaml

@@ -0,0 +1,13 @@
+laserscan_multi_merger:
+  ros__parameters:
+    destination_frame: "base_link"
+    cloud_destination_topic: "/merged_cloud"
+    scan_destination_topic: "/scan_multi"
+    laserscan_topics: "/scansx /scandx"
+    angle_min: 0.0
+    angle_max: 270.0
+    angle_increment: 0.00437
+    scan_time: 0.0
+    range_min: 0.1
+    range_max: 2.0
+

launch/merge_multi.launch.py

@@ -0,0 +1,42 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    declared_arguments = []
+    declared_env_vars = []
+    declared_parameters = []
+
+    params_file = LaunchConfiguration("params_file")
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "params_file",
+            default_value=os.path.join(
+                get_package_share_directory("ira_laser_tools"),
+                "config",
+                "ira_laserscan_merge.yaml",
+            ),
+            description="Path to param config in yaml format",
+        ),
+    )
+
+    laser_merge = Node(
+        package="ira_laser_tools",
+        executable="laserscan_multi_merger",
+        name="laserscan_multi_merger",
+        parameters=[params_file],
+        output="both",
+        # respawn=True,
+        # respawn_delay=2,
+    )
+
+    nodes = [laser_merge]
+
+    return LaunchDescription(
+        declared_parameters + declared_arguments + declared_env_vars + nodes
+    )

src/laserscan_multi_merger.cpp

@@ -63,7 +63,7 @@ class LaserscanMerger : public rclcpp::Node
 
 LaserscanMerger::LaserscanMerger() : Node("laserscan_multi_merger")
 {
-	this->declare_parameter<std::string>("destination_frame", "cart_frame");
+	this->declare_parameter<std::string>("destination_frame", "base_link");
 	this->declare_parameter<std::string>("cloud_destination_topic", "/merged_cloud");
 	this->declare_parameter<std::string>("scan_destination_topic", "/scan_multi");
 	this->declare_parameter<std::string>("laserscan_topics", "");