X-lanni
69 lines
2.0 KiB
Python
Executable File
69 lines
2.0 KiB
Python
Executable File
import os
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from launch.substitutions import LaunchConfiguration
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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from launch.conditions import IfCondition
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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use_l2_rviz = LaunchConfiguration('use_rviz')
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declare_rviz_arg = DeclareLaunchArgument(
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'use_l2_rviz',
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default_value='false',
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description='Whether to launch RViz for Unitree L2 LiDAR visualization'
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)
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pkg_share = get_package_share_directory('unitree_lidar_ros2')
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rviz_config_file = os.path.join(pkg_share,
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'rviz',
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'view.rviz')
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# Run unitree lidar
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node1 = Node(
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package='unitree_lidar_ros2',
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executable='unitree_lidar_ros2_node',
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name='unitree_lidar_ros2_node',
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output='screen',
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parameters= [
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{'initialize_type': 1},
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{'work_mode': 8},
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{'use_system_timestamp': True},
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{'range_min': 0.0},
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{'range_max': 100.0},
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{'cloud_scan_num': 18},
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{'serial_port': '/dev/ttyACM1'},
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{'baudrate': 4000000},
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{'lidar_port': 6101},
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{'lidar_ip': '192.168.1.62'},
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{'local_port': 6201},
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{'local_ip': '192.168.1.2'},
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{'cloud_frame': "unilidar_lidar"},
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{'cloud_topic': "unilidar/cloud"},
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{'imu_frame': "unilidar_imu"},
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{'imu_topic': "unilidar/imu"},
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]
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)
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# Run Rviz
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_file],
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condition=IfCondition(use_l2_rviz),
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output='log'
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)
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return LaunchDescription(
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[
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declare_rviz_arg,
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node1,
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rviz_node,
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]
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) |