add parameter and launch for lidar reader

src/object_detection/launch/object_detection_launch_both.py

@@ -0,0 +1,23 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="object_detection",
+            executable="multiflex_reader",
+            name="multiflex_reader",
+            parameters=[
+                {"multiflex_serial_port": "/dev/ttyACM0"}
+            ]
+        ),
+        Node(
+            package="object_detection",
+            executable="lidar_reader",
+            name="lidar_reader",
+            parameters=[
+                {"lidar_serial_port": "/dev/ttyUSB0"} # TODO test
+            ]
+        )
+
+    ])

src/object_detection/launch/object_detection_launch_multiflex.py

@@ -8,7 +8,7 @@ def generate_launch_description():
             executable="multiflex_reader",
             name="multiflex_reader",
             parameters=[
-                {"serial_port": "/dev/ttyACM0"}
+                {"multiflex_serial_port": "/dev/ttyACM0"}
             ]
         )
 

src/object_detection/src/lidar_reader.cpp

@@ -51,13 +51,19 @@ public:
   LidarReader()
       : Node("lidar_reader")
   {
+
+    rcl_interfaces::msg::ParameterDescriptor descriptor = rcl_interfaces::msg::ParameterDescriptor{};
+    descriptor.description = "serial port for the USB port of the LIDAR";
+
+    this->declare_parameter("lidar_serial_port", "/dev/ttyACM0", descriptor);
+
     publisher_ = this->create_publisher<object_detection::msg::LidarReading>("drone/object_detection", 10);
     timer_ = this->create_wall_timer(500ms, std::bind(&LidarReader::read_lidar_data, this));
 
     ITerarangerTowerEvo::ImuMode mode(ITerarangerTowerEvo::QuaternionLinearAcc);
 
     factory = terabee::ITerarangerFactory::getFactory();
-    tower = factory->createTerarangerTowerEvo("/dev/ttyACM0");
+    tower = factory->createTerarangerTowerEvo(this->get_parameter("lidar_serial_port"));
 
     if (!tower)
     {

src/object_detection/src/multiflex_reader.cpp

@@ -23,10 +23,10 @@ public:
   {
     rcl_interfaces::msg::ParameterDescriptor serial_port_descriptor = rcl_interfaces::msg::ParameterDescriptor{};
     serial_port_descriptor.description = "Serial port of the USB port that the multiflex PCB is connected to.";
-    this->declare_parameter("serial_port", "/dev/ttyACM0", serial_port_descriptor);
+    this->declare_parameter("multiflex_serial_port", "/dev/ttyACM0", serial_port_descriptor);
 
     factory = terabee::ITerarangerFactory::getFactory();
-    multiflex = factory->createTerarangerMultiflex(this->get_parameter("serial_port").as_string());
+    multiflex = factory->createTerarangerMultiflex(this->get_parameter("multiflex_serial_port").as_string());
 
     if (!multiflex)
     {