32 lines
1.1 KiB
Python
32 lines
1.1 KiB
Python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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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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DeclareLaunchArgument(
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name='scanner', default_value='scanner',
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description='Namespace for sample topics'
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),
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Node(
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package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
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remappings=[('cloud_in', '/utlidar/cloud'), ('scan', '/utlidar/scan')],
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parameters=[{
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'target_frame': 'base_link',
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'transform_tolerance': 0.01,
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'min_height': -0.15,
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'max_height': 1.3,
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'angle_min': -1.5708, # -M_PI/2
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'angle_max': 1.5708, # M_PI/2
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'angle_increment': 0.1, # M_PI/360.0
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'scan_time': 0.3333,
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'range_min': 0.1,
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'range_max': 20.0,
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'use_inf': True,
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'inf_epsilon': 1.0
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}],
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name='pointcloud_to_laserscan'
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)
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])
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