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How to use 3D-URG on ROS2(urg3d_node2)

This is how to install "urg3d_node2", it provides ROS2 driver node for HOKUYO 3D LiDAR(SOKUIKI Sensor).

The interfaces and some of the processes are based on hokuyo3d package , which is often used in ROS1.
urg3d_library is used for communication with LiDAR.
Life cycle control support.

Life cycle control

The operation in each state of the life cycle is as follows
- Unconfigured
startup state
- Inactive
LiDAR connection state（not delivered scanning data and diagnostic information）
- Active
LiDAR data delivery state（delivered scanning data and diagnostic information）
- Finalized
end state

1.Obtaining Source Code

$ cd <ROS2_workspace>/src
$ git clone --recursive https://github.com/Hokuyo-aut/urg3d_node2.git

2.Installing Related Packages

$ rosdep update
$ rosdep install -i --from-paths urg3d_node2

3.Build

$ cd <ROS2_workspace>
$ colcon build --symlink-install

launch

1. Connect LiDAR
   Connect via Ethernet .
2. Set the connection destination (parameters)
   Edit config/params.yaml
3. Node startup
   Execute the following command to automatically transition to the Active state and begin distribution of scan data.

$ ros2 launch urg3d_node2 urg_3dnode2.launch.py

If you do not want to automatically transition to the Active state, execute the following command. (After startup, it will enter the Unconfigured state.)

$ ros2 launch urg3d_node2 urg3d_node2.launch.py auto_start:=false