From d93fe4573a6d4190abc30ae565d53d373e32ec9b Mon Sep 17 00:00:00 2001
From: Woojin Wie <dnldnwls1123@gmail.com>
Date: Tue, 28 Nov 2023 18:24:14 +0900
Subject: [PATCH 1/3] frame_id by argument

---
 include/lipkg.h | 3 +++
 src/lipkg.cpp   | 2 +-
 src/main.cpp    | 7 ++++++-
 3 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/include/lipkg.h b/include/lipkg.h
index b653f71..9db0b61 100644
--- a/include/lipkg.h
+++ b/include/lipkg.h
@@ -93,6 +93,8 @@ class LiPkg
   sensor_msgs::msg::LaserScan GetLaserScan() {return output;}
   void setStamp(rclcpp::Time timeStamp) {output.header.stamp = timeStamp;}
 
+  void setFrameId(std::string frameId) {frame_id = frameId;}
+
 private:
   uint16_t mTimestamp;
   double mSpeed;
@@ -105,6 +107,7 @@ class LiPkg
   FrameData mFrameData;
   sensor_msgs::msg::LaserScan output;
   void ToLaserscan(std::vector < PointData > src);
+  std::string frame_id;
 };
 
 class LD00_LiPkg: public LiPkg
diff --git a/src/lipkg.cpp b/src/lipkg.cpp
index 836fb22..6a0ac91 100644
--- a/src/lipkg.cpp
+++ b/src/lipkg.cpp
@@ -230,7 +230,7 @@ void LiPkg::ToLaserscan(std::vector<PointData> src)
   // Calculate the number of scanning points
   unsigned int beam_size = ceil((angle_max - angle_min) / angle_increment);
   // output.header.stamp = rclcpp::Time::now();
-  output.header.frame_id = "base_scan";
+  output.header.frame_id = frame_id;
   output.angle_min = angle_min;
   output.angle_max = angle_max;
   output.range_min = range_min;
diff --git a/src/main.cpp b/src/main.cpp
index d52c391..75c2350 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -30,10 +30,15 @@ int main(int argc, char ** argv)
   rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr lidar_pub;
 
   LiPkg * pkg;
-  std::string product;
+  std::string product, frame_id;
   int32_t ver = 8;
   pkg = new LD08_LiPkg;
 
+  node->declare_parameter<std::string>("frame_id");
+  node->get_parameter_or<std::string>("frame_id", frame_id, "base_scan");
+
+  pkg->setFrameId(frame_id);
+
   CmdInterfaceLinux cmd_port(ver);
   std::vector<std::pair<std::string, std::string>> device_list;
   std::string port_name;

From 4ef45e98639e36629d4c7b6c2bbb7dd8853d430b Mon Sep 17 00:00:00 2001
From: Woojin Wie <dnldnwls1123@gmail.com>
Date: Tue, 28 Nov 2023 18:47:22 +0900
Subject: [PATCH 2/3] Update ld08.launch.py

---
 launch/ld08.launch.py | 20 +++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/launch/ld08.launch.py b/launch/ld08.launch.py
index cdee458..e17ccef 100644
--- a/launch/ld08.launch.py
+++ b/launch/ld08.launch.py
@@ -18,15 +18,21 @@
 
 
 from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    frame_id = LaunchConfiguration("frame_id", default="base_scan")
 
-    return LaunchDescription([
-        Node(
-            package='ld08_driver',
-            executable='ld08_driver',
-            name='ld08_driver',
-            output='screen'),
-    ])
+    return LaunchDescription(
+        [
+            Node(
+                package="ld08_driver",
+                executable="ld08_driver",
+                name="ld08_driver",
+                parameters=[{"frame_id": frame_id}],
+                output="screen",
+            ),
+        ]
+    )

From d5bfb57d0f396ecf917f9dda7b5425fb71085201 Mon Sep 17 00:00:00 2001
From: kes <kes2387@gachon.ac.kr>
Date: Wed, 29 Nov 2023 21:04:35 +0900
Subject: [PATCH 3/3] add namespace configuration

---
 launch/ld08.launch.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/launch/ld08.launch.py b/launch/ld08.launch.py
index e17ccef..8e6b337 100644
--- a/launch/ld08.launch.py
+++ b/launch/ld08.launch.py
@@ -24,10 +24,12 @@
 
 def generate_launch_description():
     frame_id = LaunchConfiguration("frame_id", default="base_scan")
+    namespace = LaunchConfiguration('namespace')
 
     return LaunchDescription(
         [
             Node(
+                namespace=namespace,
                 package="ld08_driver",
                 executable="ld08_driver",
                 name="ld08_driver",