<launch>
	<arg name="server_ip" default="192.168.1.201"/>
	<arg name="lidar_recv_port"  default="2368"/>
	<arg name="gps_port"  default="10110"/>
	<arg name="start_angle"  default="0"/>
	<arg name="lidar_type" default="Pandar64"/>
	<arg name="pcldata_type" default="0"/>
	<arg name="lidar_correction_file"  default="$(find hesai_lidar)/config/correction.csv"/>
	<arg name="work_dir"   default="/data"/>
	
	<node name="hesai_lidar_node" pkg="hesai_lidar" type="hesai_lidar_node" output="screen" respawn="true">
		<param name="server_ip" type="string" value="$(arg server_ip)"/>
		<param name="lidar_recv_port"  type="int" value="$(arg lidar_recv_port)"/>
		<param name="gps_port"  type="int" value="$(arg gps_port)"/>
		<param name="start_angle"  type="double" value="$(arg start_angle)"/>
		<param name="lidar_type"  type="string" value="$(arg lidar_type)"/>
		<param name="pcldata_type"  type="int" value="$(arg pcldata_type)"/>
		<param name="lidar_correction_file"  type="string" value="$(arg lidar_correction_file)"/>
		<param name="time_zone"  type="int" value="8"/>
		<param name="leapsec"  type="int" value="18"/>
		<param name="work_dir"    type="string" value="$(arg work_dir)"/>
		<param name="show_info"  type="int" value="0"/>
	</node>
</launch>

