feat(agv_pro_bringup): add multi-lidar support and drivers

2026-01-13 19:12:09 +08:00
parent b50a0c4496
commit dcb52622eb
99 changed files with 26335 additions and 39 deletions
@@ -0,0 +1,69 @@
+import os
+
+from launch.substitutions import LaunchConfiguration
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.conditions import IfCondition
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    
+    use_rviz = LaunchConfiguration('use_rviz')
+
+    declare_use_rviz = DeclareLaunchArgument(
+        'use_rviz',
+        default_value='false',
+        description='Whether to start RViz'
+    )
+
+    pkg_share = get_package_share_directory('unitree_lidar_ros2')
+    rviz_config_file = os.path.join(pkg_share, 
+                                    'rviz',
+                                    'view.rviz')
+
+    # Run unitree lidar
+    node1 = Node(
+        package='unitree_lidar_ros2',
+        executable='unitree_lidar_ros2_node',
+        name='unitree_lidar_ros2_node',
+        output='screen',
+        parameters= [
+                {'initialize_type': 1},
+                {'work_mode': 8},
+                {'use_system_timestamp': True},
+                {'range_min': 0.0},
+                {'range_max': 100.0},
+                {'cloud_scan_num': 18},
+
+                {'serial_port': '/dev/ttyACM1'},
+                {'baudrate': 4000000},
+
+                {'lidar_port': 6101},
+                {'lidar_ip': '192.168.1.62'},
+                {'local_port': 6201},
+                {'local_ip': '192.168.1.2'},
+                
+                {'cloud_frame': "unilidar_lidar"},
+                {'cloud_topic': "unilidar/cloud"},
+                {'imu_frame': "unilidar_imu"},
+                {'imu_topic': "unilidar/imu"},
+                ]
+    )
+
+    # Run Rviz
+    rviz_node = Node(
+       package='rviz2',
+       executable='rviz2',
+       name='rviz2',
+       arguments=['-d', rviz_config_file],
+       condition=IfCondition(use_rviz),
+       output='log'
+    )
+    return LaunchDescription(
+        [
+            declare_use_rviz,
+            node1, 
+            rviz_node,
+        ]
+    )