2024-02-12 09:43:59 +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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2024-02-13 02:51:30 +08:00
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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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2024-02-12 09:43:59 +08:00
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])
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