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YDLIDAR / ydlidar_ros2_driver

ydlidar driver package under ros2
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launch warnings none_name, node_executable deprecated #11

Open slowrunner opened 3 years ago

slowrunner commented 3 years ago

I'm using ydlidar_ros2_driver_node version 1.0.1 and SDK version 1.0.3 and was getting warnings:

UserWarning: The parameter 'node_name' is deprecated, use 'name' instead
UserWarning: The parameter 'node_name' is deprecated, use 'name' instead

I changed my ydlidar_launch.py to eliminate these warnings:

    driver_node = LifecycleNode(package='ydlidar_ros2_driver',
                                executable='ydlidar_ros2_driver_node',
                                name='ydlidar_ros2_driver_node',
                                output='screen',
                                emulate_tty=True,
                                parameters=[parameter_file],
                                )
     tf2_node = Node(package='tf2_ros',
                    executable='static_transform_publisher',
                    name='static_tf_pub_laser',
                    arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
                    )

There is a pull request to perform this: https://github.com/YDLIDAR/ydlidar_ros2_driver/pull/6