ROS2 Launch File: Visualizing LiDAR Data with rviz2

This launch file is designed for ROS2 to start the 'lslidar_driver' node and the 'rviz2' node, then visualize the output of the 'lslidar_driver' in rviz2. It uses the 'get_package_share_directory' function to get the path to the ROS2 package's shared directory and the 'Node' function to create ROS2 nodes.

rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz_cfg', 'lslidar_c16.rviz')

rviz_node = Node(
    package='rviz2',
    namespace='c16',
    executable='rviz2',
    name='rviz2',
    arguments=['-d', rviz_dir],
    output='screen')

return LaunchDescription([
    driver_node,rviz_node
])

The code above sets up an rviz2 node that uses a specific configuration file ('lslidar_c16.rviz') located within the 'lslidar_driver' package. This configuration file dictates how the LiDAR data is displayed in rviz2, enabling visualization of the output from the 'lslidar_driver' node.