feat(slam): add lidar SLAM and pointcloud processing packages

2026-01-13 19:12:25 +08:00
parent dcb52622eb
commit ddef31d11a
140 changed files with 29546 additions and 0 deletions
@@ -0,0 +1,88 @@
+# Copyright 2025 Lihan Chen
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import Node
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    SetEnvironmentVariable,
+)
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory("pcd2pgm")
+
+    # Create the launch configuration variables``
+    params_file = LaunchConfiguration("params_file")
+    rviz_config_file = LaunchConfiguration("rviz_config_file")
+
+    stdout_linebuf_envvar = SetEnvironmentVariable(
+        "RCUTILS_LOGGING_BUFFERED_STREAM", "1"
+    )
+
+    colorized_output_envvar = SetEnvironmentVariable("RCUTILS_COLORIZED_OUTPUT", "1")
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        "params_file",
+        default_value=os.path.join(bringup_dir, "config", "pcd2pgm.yaml"),
+        description="Full path to the ROS2 parameters file to use for all launched nodes",
+    )
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        "rviz_config_file",
+        default_value=os.path.join(bringup_dir, "rviz", "pcd2pgm.rviz"),
+        description="Full path to the RVIZ config file to use",
+    )
+
+    start_pcd2pgm_cmd = Node(
+        package="pcd2pgm",
+        executable="pcd2pgm_node",
+        name="pcd2pgm",
+        output="screen",
+        parameters=[params_file],
+    )
+
+    start_rviz_cmd = Node(
+        package="rviz2",
+        executable="rviz2",
+        arguments=["-d", rviz_config_file],
+        output="screen",
+        remappings=[
+            ("/tf", "tf"),
+            ("/tf_static", "tf_static"),
+        ],
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Set environment variables
+    ld.add_action(stdout_linebuf_envvar)
+    ld.add_action(colorized_output_envvar)
+
+    # Declare the launch options
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
+
+    # Add the actions to launch all of the navigation nodes
+    ld.add_action(start_pcd2pgm_cmd)
+    ld.add_action(start_rviz_cmd)
+
+    return ld