feat: add YDLIDAR ROS2 driver package (ported from move_try)

TminiPro LiDAR driver with multi-model parameter configs (X4, G1, G2, G6, TminiPro, etc.), ROS2 lifecycle management, and RViz debug config.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>

ros2/src/ydlidar_ros2_driver/launch/ydlidar_launch_view.py

@@ -0,0 +1,63 @@
+#!/usr/bin/python3
+# Copyright 2020, EAIBOTd
+# 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.
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import LifecycleNode
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.actions import LogInfo
+
+import lifecycle_msgs.msg
+import os
+
+
+def generate_launch_description():
+    share_dir = get_package_share_directory('ydlidar_ros2_driver')
+    rviz_config_file = os.path.join(share_dir, 'config','ydlidar.rviz')
+    parameter_file = LaunchConfiguration('params_file')
+    node_name = 'ydlidar_ros2_driver_node'
+
+    params_declare = DeclareLaunchArgument('params_file',
+                                           default_value=os.path.join(
+                                               share_dir, 'params', 'TminiPro.yaml'),
+                                           description='FPath to the ROS2 parameters file to use.')
+
+    driver_node = LifecycleNode(package='ydlidar_ros2_driver',
+                                executable='ydlidar_ros2_driver_node',
+                                name='ydlidar_ros2_driver_node',
+                                output='screen',
+                                emulate_tty=True,
+                                parameters=[parameter_file],
+                                namespace='/',
+                                )
+    tf2_node = Node(package='tf2_ros',
+                    executable='static_transform_publisher',
+                    name='static_tf_pub_laser',
+                    arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
+                    )
+    # rviz2_node = Node(package='rviz2',
+    #                 executable='rviz2',
+    #                 name='rviz2',
+    #                 arguments=['-d', rviz_config_file],
+    #                 )
+
+    return LaunchDescription([
+        params_declare,
+        driver_node,
+        tf2_node,
+        #rviz2_node,
+    ])