2024-02-04 08:18:52 +08:00
|
|
|
from launch import LaunchDescription
|
|
|
|
|
from launch.actions import IncludeLaunchDescription
|
|
|
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|
|
|
|
from launch.substitutions import ThisLaunchFileDir
|
|
|
|
|
from launch_ros.actions import Node
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def generate_launch_description():
|
|
|
|
|
return LaunchDescription([
|
|
|
|
|
# launch the pointcloud to laser scan converter
|
|
|
|
|
Node(
|
|
|
|
|
package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
|
|
|
|
|
remappings=[('cloud_in', '/go2/lidar_points'),
|
|
|
|
|
('scan', '/go2/lidar_scans')],
|
|
|
|
|
parameters=[{
|
2024-02-04 09:05:52 +08:00
|
|
|
'target_frame': 'go2/hesai_lidar',
|
2024-02-04 08:18:52 +08:00
|
|
|
'transform_tolerance': 0.01,
|
|
|
|
|
'min_height': 0.0,
|
|
|
|
|
'max_height': 1.0,
|
|
|
|
|
'angle_min': -1.5708, # -M_PI/2
|
|
|
|
|
'angle_max': 1.5708, # M_PI/2
|
|
|
|
|
'angle_increment': 0.0087, # M_PI/360.0
|
|
|
|
|
'scan_time': 0.3333,
|
|
|
|
|
'range_min': 0.45,
|
|
|
|
|
'range_max': 100.0,
|
|
|
|
|
'use_inf': True,
|
|
|
|
|
'inf_epsilon': 1.0
|
|
|
|
|
}],
|
|
|
|
|
name='pointcloud_to_laserscan'
|
|
|
|
|
),
|
|
|
|
|
|
|
|
|
|
Node(
|
|
|
|
|
package='hesai_ros_driver',
|
|
|
|
|
executable='hesai_ros_driver_node',
|
|
|
|
|
name='b1_hesai_ros_driver_node'
|
|
|
|
|
),
|
|
|
|
|
|
|
|
|
|
Node(
|
|
|
|
|
name='go2_d455_cam',
|
|
|
|
|
namespace='go2/d435i_cam',
|
|
|
|
|
package='realsense2_camera',
|
|
|
|
|
executable='realsense2_camera_node',
|
|
|
|
|
parameters=[{
|
|
|
|
|
'enable_infra1': True,
|
|
|
|
|
'enable_infra2': True,
|
|
|
|
|
'enable_color': False,
|
|
|
|
|
'enable_depth': False,
|
|
|
|
|
'depth_module.emitter_enabled': 0,
|
|
|
|
|
'depth_module.profile': '640x480x60',
|
|
|
|
|
'enable_gyro': True,
|
|
|
|
|
'enable_accel': True,
|
|
|
|
|
'gyro_fps': 400,
|
|
|
|
|
'accel_fps': 200,
|
|
|
|
|
'unite_imu_method': 2,
|
|
|
|
|
# 'tf_publish_rate': 0.0
|
|
|
|
|
}]
|
|
|
|
|
),
|
|
|
|
|
|
|
|
|
|
# Launch the front looking D455 camera
|
|
|
|
|
# IncludeLaunchDescription(
|
|
|
|
|
# PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/d455.launch.py'])
|
|
|
|
|
# ),
|
|
|
|
|
# Run the B1py node
|
|
|
|
|
# Node(
|
|
|
|
|
# package='b1py_node',
|
|
|
|
|
# executable='highlevel',
|
|
|
|
|
# name='b1_highlevel_node'
|
|
|
|
|
# ),
|
|
|
|
|
|
|
|
|
|
# Run the B1py calibration TF broadcaster
|
|
|
|
|
# Node(
|
|
|
|
|
# package='b1py_calib',
|
|
|
|
|
# executable='calib_broadcaster',
|
|
|
|
|
# name='b1_calib_broadcaster_node'
|
|
|
|
|
# ),
|
|
|
|
|
# Launch the LiDAR sensor
|
|
|
|
|
# IncludeLaunchDescription(
|
|
|
|
|
# PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rslidar.launch.py'])
|
|
|
|
|
# ),
|
|
|
|
|
# Launch the LiDAR sensor
|
|
|
|
|
# IncludeLaunchDescription(
|
|
|
|
|
# PythonLaunchDescriptionSource(['/B1Py/deploy/docker/launch/state_estimation/ekf.launch.py'])
|
|
|
|
|
# ),
|
|
|
|
|
])
|
