2024-05-05 02:03:03 +08:00
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import ThisLaunchFileDir
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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# launch the pointcloud to laser scan converter
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Node(
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package='hesai_ros_driver',
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executable='hesai_ros_driver_node',
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name='go2_hesai_ros_driver_node'
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),
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# Node(
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# name='go2_cam',
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# namespace='go2/cam',
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# package='realsense2_camera',
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# executable='realsense2_camera_node',
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# parameters=[{
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# 'enable_infra1': True,
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# 'enable_infra2': True,
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# 'enable_color': False,
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# 'enable_depth': False,
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# 'depth_module.emitter_enabled': 0,
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# 'depth_module.profile': '640x480x60',
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# 'enable_gyro': True,
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# 'enable_accel': True,
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# 'gyro_fps': 400,
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# 'accel_fps': 200,
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# 'unite_imu_method': 2,
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# # 'tf_publish_rate': 0.0
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# }]
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# )
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2024-05-21 06:45:59 +08:00
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])
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