Vehicle-cpp/Nav/autoware_src/drivers/awf_drivers/hokuyo/scripts/top_urg.launch

<launch>

<!--  When using an IP-connected LIDAR, populate the "ip_address" parameter with the address of the LIDAR.
      Otherwise, leave it blank. If supported by your LIDAR, you may enable the publish_intensity
      and/or publish_multiecho options. -->

<!-- Note: when using a USB interface device please make sure the ip_address parameter is empty,
    otherwise the driver will choose instead the Ethernet interface. -->

    <arg name="ip_address" default="" />
    <arg name="serial_port" default="/dev/ttyACM0" />
    <arg name="serial_baud" default="115200" />
    <arg name="frame_id" default="laser" />
    <arg name="calibrate_time" default="true" />
    <arg name="publish_intensity" default="false" />
    <arg name="publish_multiecho" default="false" />
    <arg name="angle_min" default="-1.5707963" />
    <arg name="angle_max" default="1.5707963" />

    <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
        <param name="ip_address" value="$(arg ip_address)"/>
        <param name="serial_port" value="$(arg serial_port)"/>
        <param name="serial_baud" value="$(arg serial_baud)"/>
        <param name="frame_id" value="$(arg frame_id)"/>
        <param name="calibrate_time" value="$(arg calibrate_time)"/>
        <param name="publish_intensity" value="$(arg publish_intensity)"/>
        <param name="publish_multiecho" value="$(arg publish_multiecho)"/>
        <param name="angle_min" value="$(arg angle_min)"/>
        <param name="angle_max" value="$(arg angle_max)"/>
    </node>

</launch>