fix(livox_ros_driver2,agv_pro_bringup): cleanup ROS2 launch files and improve lidar bringup

2026-01-20 18:44:15 +08:00
parent f0c1d0b36d
commit 98b9fb2122
8 changed files with 25 additions and 48 deletions
@@ -0,0 +1,63 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import launch
+
+################### user configure parameters for ros2 start ###################
+xfer_format   = 0    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+multi_topic   = 0    # 0-All LiDARs share the same topic, 1-One LiDAR one topic
+data_src      = 0    # 0-lidar, others-Invalid data src
+publish_freq  = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
+output_type   = 0
+frame_id      = 'livox_frame'
+lvx_file_path = '/home/livox/livox_test.lvx'
+cmdline_bd_code = 'livox0000000001'
+
+cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
+cur_config_path = cur_path + '../config'
+rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud_ROS2.rviz')
+user_config_path = os.path.join(cur_config_path, 'HAP_config.json')
+################### user configure parameters for ros2 end #####################
+
+livox_ros2_params = [
+    {"xfer_format": xfer_format},
+    {"multi_topic": multi_topic},
+    {"data_src": data_src},
+    {"publish_freq": publish_freq},
+    {"output_data_type": output_type},
+    {"frame_id": frame_id},
+    {"lvx_file_path": lvx_file_path},
+    {"user_config_path": user_config_path},
+    {"cmdline_input_bd_code": cmdline_bd_code}
+]
+
+
+def generate_launch_description():
+    livox_driver = Node(
+        package='livox_ros_driver2',
+        executable='livox_ros_driver2_node',
+        name='livox_lidar_publisher',
+        output='screen',
+        parameters=livox_ros2_params
+        )
+
+    livox_rviz = Node(
+            package='rviz2',
+            executable='rviz2',
+            output='screen',
+            arguments=['--display-config', rviz_config_path]
+        )
+
+    return LaunchDescription([
+        livox_driver,
+        livox_rviz,
+        # launch.actions.RegisterEventHandler(
+        #     event_handler=launch.event_handlers.OnProcessExit(
+        #         target_action=livox_rviz,
+        #         on_exit=[
+        #             launch.actions.EmitEvent(event=launch.events.Shutdown()),
+        #         ]
+        #     )
+        # )
+    ])