修改rviz显示launch文件和雷达urdf中坐标系名字

src/robot_description/launch/display.launch

@@ -1,21 +1,10 @@
 <launch>
   <arg name="model" />
-  <arg name="gui"
-    default="False" />
+  <arg name="gui" default="False" />
   <param
     name="robot_description"
     textfile="$(find robot_description)/urdf/robot.urdf" />
-  <param
-    name="use_gui"
-    value="$(arg gui)" />
-  <node
-    name="joint_state_publisher"
-    pkg="joint_state_publisher"
-    type="joint_state_publisher" />
-  <node
-    name="robot_state_publisher"
-    pkg="robot_state_publisher"
-    type="state_publisher" />
+  <param name="use_gui" value="$(arg gui)" />
   <node
     name="rviz"
     pkg="rviz"

src/ydlidar/launch/lidar.launch

@@ -1,7 +1,7 @@
 <launch>
   <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen" respawn="false" >
     <param name="port"         type="string" value="/dev/ydlidar"/>  
-    <param name="frame_id"     type="string" value="laser_frame"/>
+    <param name="frame_id"     type="string" value="lidar"/>
     <param name="resolution_fixed"    type="bool"   value="true"/>
     <param name="auto_reconnect"    type="bool"   value="true"/>
     <param name="reversion"    type="bool"   value="false"/>
@@ -14,6 +14,4 @@
     <param name="ignore_array" type="string" value="" />
     <param name="max_abnormal_check_count"    type="int" value="2"/>
   </node>
-  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
-    args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />
 </launch>