From 1df8f7d1ab3d4183def47592c5851fbcdf1b6b0f Mon Sep 17 00:00:00 2001
From: zyx <yuxuan.zeng@sjtu.edu.cn>
Date: Wed, 27 Sep 2023 17:22:06 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9launch?=
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---
 ..._lidar.launch => livox_lidar_cloud.launch} |  0
 launch/livox_lidar_cloud_sep.launch           | 43 +++++++++++++++++++
 2 files changed, 43 insertions(+)
 rename launch/{livox_lidar.launch => livox_lidar_cloud.launch} (100%)
 create mode 100644 launch/livox_lidar_cloud_sep.launch

diff --git a/launch/livox_lidar.launch b/launch/livox_lidar_cloud.launch
similarity index 100%
rename from launch/livox_lidar.launch
rename to launch/livox_lidar_cloud.launch
diff --git a/launch/livox_lidar_cloud_sep.launch b/launch/livox_lidar_cloud_sep.launch
new file mode 100644
index 0000000..f81902e
--- /dev/null
+++ b/launch/livox_lidar_cloud_sep.launch
@@ -0,0 +1,43 @@
+<launch>
+
+	<arg name="lvx_file_path" default="livox_test.lvx"/>
+	<arg name="bd_list" default="100000000000000"/>
+	<arg name="xfer_format" default="0"/>
+	<arg name="multi_topic" default="1"/>
+	<arg name="data_src" default="0"/>
+	<arg name="publish_freq" default="10.0"/>
+	<arg name="output_type" default="0"/>
+	<arg name="rviz_enable" default="false"/>
+	<arg name="rosbag_enable" default="false"/>
+	<arg name="cmdline_arg" default="$(arg bd_list)"/>
+	<arg name="msg_frame_id" default="livox_frame"/>
+	<arg name="lidar_bag" default="true"/>
+	<arg name="imu_bag" default="true"/>
+
+	<param name="xfer_format" value="$(arg xfer_format)"/>
+	<param name="multi_topic" value="$(arg multi_topic)"/>
+	<param name="data_src" value="$(arg data_src)"/>
+	<param name="publish_freq" type="double" value="$(arg publish_freq)"/>
+	<param name="output_data_type" value="$(arg output_type)"/>
+	<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
+	<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
+	<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_lidar_config.json"/>
+	<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
+	<param name="enable_lidar_bag" type="bool" value="$(arg lidar_bag)"/>
+	<param name="enable_imu_bag" type="bool" value="$(arg imu_bag)"/>
+
+	<node name="livox_lidar_publisher" pkg="livox_ros_driver"
+	      type="livox_ros_driver_node" required="true"
+	      output="screen" args="$(arg cmdline_arg)"/>
+
+	<group if="$(arg rviz_enable)">
+		<node name="rviz" pkg="rviz" type="rviz" respawn="true"
+				args="-d $(find livox_ros_driver)/config/display_lidar_points.rviz"/>
+    </group>
+
+	<group if="$(arg rosbag_enable)">
+    	<node pkg="rosbag" type="record" name="record" output="screen"
+          		args="-a"/>
+    </group>
+
+</launch>