84 lines
3.0 KiB
Python
84 lines
3.0 KiB
Python
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='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node',
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remappings=[('cloud_in', '/go2/lidar_points'),
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('scan', '/go2/lidar_scans')],
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parameters=[{
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'target_frame': 'go2/hesai_lidar',
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'transform_tolerance': 0.01,
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'min_height': 0.0,
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'max_height': 1.0,
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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': 0.0087, # M_PI/360.0
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'scan_time': 0.3333,
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'range_min': 0.45,
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'range_max': 100.0,
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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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Node(
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package='hesai_ros_driver',
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executable='hesai_ros_driver_node',
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name='b1_hesai_ros_driver_node'
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),
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Node(
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name='go2_d455_cam',
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namespace='go2/d435i_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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# Launch the front looking D455 camera
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/d455.launch.py'])
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# ),
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# Run the B1py node
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# Node(
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# package='b1py_node',
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# executable='highlevel',
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# name='b1_highlevel_node'
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# ),
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# Run the B1py calibration TF broadcaster
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# Node(
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# package='b1py_calib',
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# executable='calib_broadcaster',
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# name='b1_calib_broadcaster_node'
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# ),
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# Launch the LiDAR sensor
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rslidar.launch.py'])
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# ),
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# Launch the LiDAR sensor
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# IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(['/B1Py/deploy/docker/launch/state_estimation/ekf.launch.py'])
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# ),
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]) |