Tweak

Signed-off-by: Carlos Agüero <[email protected]>

ros_gz_sim_demos/config/gpu_lidar.yaml

@@ -1,18 +1,12 @@
 # GPU lidar configuration.
-- ros_topic_name: "/lidar"
-  gz_topic_name: "/lidar"
+- topic_name: "/lidar"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "gz.msgs.LaserScan"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
+  lazy: true
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/lidar/points"
-  gz_topic_name: "/lidar/points"
+- topic_name: "/lidar/points"
   ros_type_name: "sensor_msgs/msg/PointCloud2"
   gz_type_name: "gz.msgs.PointCloudPacked"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
-  direction: GZ_TO_ROS
+  lazy: true
+  direction: GZ_TO_ROS

ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml

@@ -1,6 +1,12 @@
 <launch>
-  <gz_server world_sdf_file="gpu_lidar_sensor.sdf" use_composition="True" create_own_container="True" />
-  <ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/gpu_lidar.yaml" use_composition="True" />
+  <gz_server
+    world_sdf_file="gpu_lidar_sensor.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/gpu_lidar.yaml"
+    use_composition="True" />
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/gpu_lidar_bridge.rviz" />
   <executable cmd="gz sim -g" />
 </launch>