Change lidar topic to /scan to integrate with slam.

Signed-off-by: Jelmer de Wolde <[email protected]>

Author: Jelmerdw

ros2_ws/src/rcdt_sensors/urdf/rcdt_velodyne.urdf.xacro

@@ -18,7 +18,7 @@ Based on:
     *origin 
     parent:=cover_link 
     name:=velodyne 
-    topic:=/velodyne_points
+    topic:=/scan
     update_rate:=10 
     lasers:=16 
     samples:=1875 

ros2_ws/src/rcdt_utilities/launch/gazebo_robot.launch.py

@@ -50,7 +50,8 @@ def launch_setup(context: LaunchContext) -> List:
     if use_velodyne:
         bridge_topics.extend(
             [
-                "/velodyne_points/points@sensor_msgs/msg/[email protected]",
+                "/scan@sensor_msgs/msg/[email protected]",
+                "/scan/points@sensor_msgs/msg/[email protected]",
             ]
         )