fix(agv_pro_bringup): add launch with RViz condition

2026-04-08 19:02:32 +08:00
parent 30895501ed
commit be405bb64d
3 changed files with 96 additions and 7 deletions
@@ -0,0 +1,89 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+
+################### 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      = 'laser_link'
+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, 'MID360_config.json')
+################### user configure parameters for ros2 end #####################
+
+def generate_launch_description():
+
+    use_mid360_rviz = LaunchConfiguration('use_mid360_rviz')
+    xfer_format = LaunchConfiguration('xfer_format')
+    publish_freq = LaunchConfiguration('publish_freq')
+
+    declare_rviz_arg = DeclareLaunchArgument(
+        'use_mid360_rviz',
+        default_value='false',
+        description='Enable RViz for MID360 LiDAR visualization'
+    )
+
+    declare_xfer_format_arg = DeclareLaunchArgument(
+        'xfer_format',
+        default_value='0',
+        description='MID360 format: 0=Pointcloud2(PointXYZRTL), 1=customized pointcloud format'
+    )
+
+    declare_publish_freq_arg = DeclareLaunchArgument(
+        'publish_freq',
+        default_value='10.0',
+        description='MID360 LiDAR publish frequency in Hz (e.g., 5.0, 10.0, 20.0, 50.0)'
+    )
+
+    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}
+    ]
+
+    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',
+            name='mid360_lidar_rviz',
+            output='screen',
+            arguments=['--display-config', rviz_config_path],
+            condition=IfCondition(
+                PythonExpression([
+                    "'", use_mid360_rviz, "' == 'true' and '",
+                    xfer_format, "' == '0'"
+                ])
+            )
+        )
+
+    return LaunchDescription([
+        declare_rviz_arg,
+        declare_xfer_format_arg,
+        declare_publish_freq_arg,
+        livox_driver,
+        livox_rviz,
+    ])