Add a single launch file for Hokuyo LIDAR 2D SLAM. (#5)

cartographer_turtlebot2/launch/turtlebot2_urg_lidar_2d.launch

@@ -0,0 +1,24 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <include file="$(find turtlebot_bringup)/launch/minimal.launch" />
+
+  <param name="urg_node/frame_id" value="horizontal_laser_link" />
+  <node name="urg_node" pkg="urg_node" type="urg_node" />
+
+  <include file="$(find cartographer_turtlebot2)/launch/turtlebot2.launch" />
+</launch>

cartographer_turtlebot2/package.xml

@@ -36,4 +36,5 @@
   <depend>kobuki_core</depend>
   <depend>openni2_launch</depend>
   <depend>turtlebot_bringup</depend>
+  <depend>urg_node</depend>
 </package>