37 lines
1.3 KiB
Python
37 lines
1.3 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='go2_hesai_ros_driver_node'
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),
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]) |