add ROS 2 launch scripts for starting the AGV Pro
This commit is contained in:
X-lanni
@@ -22,19 +22,7 @@ def generate_launch_description():
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parameters=[driver_dir],
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)
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rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz')
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rviz_node = Node(
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package='rviz2',
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namespace='',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_dir],
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output='screen')
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return LaunchDescription([
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driver_node,
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rviz_node,
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driver_node
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])
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@@ -7,7 +7,7 @@
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device_ip_difop: 192.168.1.102 #雷达目的ip
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msop_port: 2368 #雷达目的端口号
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difop_port: 2369 #雷达源端口号
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lidar_name: M10 #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
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lidar_name: N10_P #雷达选择:M10 M10_P M10_PLUS M10_GPS N10 L10 N10_P
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angle_disable_min: 0.0 #角度裁剪开始值
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angle_disable_max: 0.0 #角度裁剪结束值
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min_range: 0.0 #雷达接收距离最小值
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@@ -15,11 +15,11 @@
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use_gps_ts: false #雷达是否使用GPS授时
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scan_topic: /scan #设置激光数据topic名称
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interface_selection: serial #接口选择:net 为网口,serial 为串口。
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serial_port_: /dev/ttyUSB0 #串口连接时的串口号
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serial_port_: /dev/agv_lidar #串口连接时的串口号
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high_reflection: false #M10_P雷达需填写该值,若不确定，请联系技术支持。
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compensation: false #M10系列是否使用角度补偿功能
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pubScan: true #是否发布scan话题
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pubPointCloud2: false #是否发布pointcloud2话题
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pointcloud_topic: /lslidar_point_cloud #设置激光数据topic名称
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# pcap: /home/ls/1.pcap #雷达是否使用pcap包读取功能
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# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
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# in_file_name: /home/ls/1.txt #雷达是否使用txt文件读取功能
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@@ -0,0 +1,23 @@
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cmake_minimum_required(VERSION 3.8)
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project(agv_pro_bringup)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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@@ -0,0 +1,58 @@
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
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from launch.substitutions import LaunchConfiguration
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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port_name_arg = LaunchConfiguration('port_name',default='ttyS0')
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namespace = LaunchConfiguration('namespace', default='')
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urdf_file = os.path.join(
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get_package_share_directory('agv_pro_description'),
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'urdf',
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'agv_pro.urdf'
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)
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with open(urdf_file, 'r') as file:
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robot_description_content = file.read()
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return LaunchDescription([
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DeclareLaunchArgument(
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'port_name',
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default_value=port_name_arg,
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description='port name, e.g. ttyS0'),
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Node(
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package='agv_pro_base',
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executable='agv_pro_node',
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name='agv_pro_node',
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output='screen',
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parameters=[{
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'port_name': port_name_arg,
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'namespace': namespace,
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}],
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),
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Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher'
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),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description_content}]
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([os.path.join(
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get_package_share_directory('lslidar_driver'),'launch'),
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'lslidar_launch.py'])
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)
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])
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@@ -0,0 +1,22 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>agv_pro_bringup</name>
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<version>1.0.0</version>
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<description>ROS 2 launch scripts for starting the AGV Pro</description>
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<maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
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<license>BSD-3-Clause license</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>robot_state_publisher</exec_depend>
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<exec_depend>rviz2</exec_depend>
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<exec_depend>agv_pro_description</exec_depend>
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<exec_depend>agv_pro_base</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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