Add livox driver

[mspringer1]

Changes

• add second lidar launch argument for Livox MID-360
• changed to OpaqueFunction to allow for conditional launch so users don't need to install all sensor drivers when only one is used

To-Do

Info

• The package livox_ros_driver2 is already installed on the Go2 by default and does not require a seperate installation

[Juancams]

Hello @mspringer1

Thank you very much for your contribution, the truth is that I did not know that you could do that with launchers, it is a very useful tool.

Regarding the Livox lidar, we don't have it here, so I'm going to trust that everything is ok (I've launched it and nothing dies at least hahaha).

I am going to leave the pull request without accepting for now, since in a few days we are going to update the urdf with the tf for the realsense and the hesai lidar. When we do it, please update the urdf with the tf to the lidar and we will merge.

Thank you very much again for your contribution.

Greetings.

[mspringer1]

Hey @Juancams

I just added the livox mid 360 to the urdf.

But with all the different sensor configurations, a logic is needed to only conditionally add a sensor to the urdf based on the launch arguments. Will this also be integrated with the hesai and realsense PR?

[Juancams]

Of course, the solution we propose is very optimal for choosing which configuration to use. In a few weeks we will integrate it into the main branch.

Thank you so much!!!