common.launch

<launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen" respawn="True">
    <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
    <param name="serial_baudrate"     type="int"    value="115200"/>
    <param name="frame_id"            type="string" value="laser"/>
    <param name="inverted"            type="bool"   value="false"/>
    <param name="angle_compensate"    type="bool"   value="true"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="static_base_link_to_laser" args="0 0 0.115 0 0 0 base_link laser 30" />

  <node name="driver" pkg="edukit_bot" type="driver_node" output="screen"/>
  
  <node pkg="joy" type="joy_node" name="joystick">
    <param name="autorepeat_rate" value="1" />
  </node>

  <node pkg="teleop_twist_joy" type="teleop_node" name="joystick_to_twist">
    <param name="scale_linear" value="0.04" />
    <param name="scale_angular" value="0.2" />
  </node>
</launch>