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Until the launch API is sorted out, there is a way to view the laserscan in RViz:

1. use the static_transform_publisher tool from tf2_ros to publish a static transform for a fixed frame simultaneously with rviz and urg_node.

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

where "laser" is the frame id, which you can set in your urg_node yaml file

A YAML file example is included in the launch folder, all the available parameters are listed in it.For example (note that the serial_port is commented because you can't set a param with an empty string):

urg_node:  ros__parameters:    ip_address: "192.168.0.10"    ip_port: 10940    #serial_port: ""    serial_baud: 115200    laser_frame_id: laser    angle_max: 3.14    angle_min: -3.14    publish_intensity: false    publish_multiecho: false    calibrate_time: false    default_user_latency: 0    diagnostics_tolerance: 0.05    diagnostics_window_time: 5.0    error_limit: 4    get_detailed_status: false    cluster: 0    skip: 1

To give parameters to urg_node :

ros2 run urg_node urg_node_driver --ros-args --params-file <your_config.yaml>

When you build the package, default config is located in launch folder. The default ethernet config is calledurg_node_ethernet.yaml

You can reconfigure parameters while the node is launched.For now, you can only reconfigure the following parameters:

laser_frame_iderror_limitdefault_user_latencyangle_maxangle_minclusterskip

For example to reconfigure the cluster parameter using command line :

ros2 param set /urg_node cluster 1

To use ust-20lx, you need to be on the same subnet as the laser.The ust-20lx default ip is 192.168.0.10, so you might need to change your ip, for something on the same subnet.

On Ubuntu :

• go to the network settings
• settings of the wired connection
• under IPv4, change the IPv4 method from automatic to Manual and under Addresses, set the values:

    Address : 192.168.0.15    Netmask : 255.255.255.0    Gateway : 192.168.0.1

• Turn off and on the connection or wait a bit for the change to apply
• To check if it worked, open a terminal and type

ifconfig

• Under eth0 (or maybe something like enpxxxxx), your IP should be 192.168.0.15.You should now be able to ping the ust-20lx at its address (by default 192.168.0.10)

ping 192.168.0.10

If you don't receive any answer, you might have a connection problem or the IP of your laser might have been change, either find it and go on the same subnet or reset it.

• Once you can ping the laser, you can launch the urg_node_driver:

ros2 run urg_node urg_node_driver --ros-args --params-file ./install/urg_node/share/urg_node/launch/urg_node_ethernet.yaml

then the static publisher:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

and rviz:

ros2 run rviz2 rviz2

Add the laserScan topic, change the frame on rviz from map to world and you should be able to see the laser.