Jazzy

[fordft168]

This pull request updates the YDLidar ROS2 driver for full compatibility with ROS2 Jazzy, improves documentation, and corrects configuration for the X4 Pro (S2PRO) lidar. The most important changes include refactoring parameter handling in the C++ driver code, updating launch files and configuration for Jazzy conventions, fixing QoS settings for RViz2, and providing a comprehensive setup guide.

ROS2 Jazzy Compatibility

• Refactored all parameter declarations in src/ydlidar_ros2_driver_node.cpp to use the new ROS2 Jazzy API, removing deprecated Humble patterns and ensuring default values are set inline.
• Updated the C++ standard in CMakeLists.txt from C++14 to C++17, as required by ROS2 Jazzy.
• Changed launch files (launch/ydlidar_launch.py, launch/ydlidar_launch_view.py) to use Jazzy-compatible arguments: replaced node_executable, node_name, and node_namespace with executable, name, and namespace, and updated static transform publisher arguments to the new format. [1] [2] [3]

Configuration and Documentation

• Added a detailed setup and troubleshooting guide for ROS2 Jazzy in lidarKnowhow.md, including hardware quirks, configuration tips, and common pitfalls for the X4 Pro/S2PRO.
• Updated the main configuration file params/ydlidar.yaml to reflect correct settings for the S2PRO protocol (single channel, baudrate, sample rate, etc.), with comments explaining each parameter.

Visualization and QoS

• Fixed RViz2 LaserScan display QoS incompatibility by changing the Reliability Policy to Best Effort in config/ydlidar.rviz, ensuring scan data is visible in RViz2.

Versioning and Metadata

• Updated driver version string to 1.0.2-jazzy in src/ydlidar_ros2_driver_node.cpp for clarity and traceability.
• Added a note in the driver source file header about ROS2 Jazzy compatibility.