add Lslidar_ROS2_driver/

2025-06-06 10:44:28 +08:00
parent b2fc659c53
commit d398ba0a22
24 changed files with 3192 additions and 0 deletions
@@ -0,0 +1,50 @@
+#!/usr/bin/python3
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import LifecycleNode
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+
+import lifecycle_msgs.msg
+import os
+
+def generate_launch_description():
+
+    driver_dir_1 = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10_1.yaml')
+    driver_dir_2 = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10_2.yaml')
+                     
+    driver_node_1 = LifecycleNode(package='lslidar_driver',
+                                executable='lslidar_driver_node',
+                                name='lslidar_driver_node',		#设置激光数据topic名称
+                                output='screen',
+                                emulate_tty=True,
+                                namespace='lidar_1',
+                                parameters=[driver_dir_1],
+                                )
+
+    driver_node_2 = LifecycleNode(package='lslidar_driver',
+                                executable='lslidar_driver_node',
+                                name='lslidar_driver_node',		#设置激光数据topic名称
+                                output='screen',
+                                emulate_tty=True,
+                                namespace='lidar_2',
+                                parameters=[driver_dir_2],
+                                )
+
+    rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz')
+
+    rviz_node = Node(
+        package='rviz2',
+        namespace='',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_dir],
+        output='screen')
+
+    return LaunchDescription([
+        driver_node_1,
+        driver_node_2,
+        rviz_node,
+    ])
+
@@ -0,0 +1,40 @@
+#!/usr/bin/python3
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import LifecycleNode
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+
+import lifecycle_msgs.msg
+import os
+
+def generate_launch_description():
+
+    driver_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')
+                     
+    driver_node = LifecycleNode(package='lslidar_driver',
+                                executable='lslidar_driver_node',
+                                name='lslidar_driver_node',		#设置激光数据topic名称
+                                output='screen',
+                                emulate_tty=True,
+                                namespace='',
+                                parameters=[driver_dir],
+                                )
+
+
+    rviz_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'rviz', 'lslidar.rviz')
+
+    rviz_node = Node(
+        package='rviz2',
+        namespace='',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_dir],
+        output='screen')
+
+    return LaunchDescription([
+        driver_node,
+        rviz_node,
+    ])
+