X-lanni
89 lines
3.1 KiB
Python
89 lines
3.1 KiB
Python
import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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################### user configure parameters for ros2 start ###################
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# xfer_format = 0 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
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multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic
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data_src = 0 # 0-lidar, others-Invalid data src
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# publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
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output_type = 0
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frame_id = 'laser_link'
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lvx_file_path = '/home/livox/livox_test.lvx'
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cmdline_bd_code = 'livox0000000001'
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cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
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cur_config_path = cur_path + '../config'
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rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud_ROS2.rviz')
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user_config_path = os.path.join(cur_config_path, 'MID360_config.json')
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################### user configure parameters for ros2 end #####################
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def generate_launch_description():
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use_mid360_rviz = LaunchConfiguration('use_mid360_rviz')
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xfer_format = LaunchConfiguration('xfer_format')
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publish_freq = LaunchConfiguration('publish_freq')
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declare_rviz_arg = DeclareLaunchArgument(
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'use_mid360_rviz',
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default_value='false',
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description='Enable RViz for MID360 LiDAR visualization'
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)
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declare_xfer_format_arg = DeclareLaunchArgument(
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'xfer_format',
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default_value='0',
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description='MID360 format: 0=Pointcloud2(PointXYZRTL), 1=customized pointcloud format'
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)
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declare_publish_freq_arg = DeclareLaunchArgument(
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'publish_freq',
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default_value='10.0',
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description='MID360 LiDAR publish frequency in Hz (e.g., 5.0, 10.0, 20.0, 50.0)'
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)
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livox_ros2_params = [
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{"xfer_format": xfer_format},
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{"multi_topic": multi_topic},
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{"data_src": data_src},
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{"publish_freq": publish_freq},
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{"output_data_type": output_type},
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{"frame_id": frame_id},
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{"lvx_file_path": lvx_file_path},
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{"user_config_path": user_config_path},
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{"cmdline_input_bd_code": cmdline_bd_code}
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]
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livox_driver = Node(
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package='livox_ros_driver2',
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executable='livox_ros_driver2_node',
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name='livox_lidar_publisher',
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output='screen',
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parameters=livox_ros2_params
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)
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livox_rviz = Node(
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package='rviz2',
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executable='rviz2',
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name='mid360_lidar_rviz',
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output='screen',
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arguments=['--display-config', rviz_config_path],
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condition=IfCondition(
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PythonExpression([
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"'", use_mid360_rviz, "' == 'true' and '",
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xfer_format, "' == '0'"
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])
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)
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)
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return LaunchDescription([
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declare_rviz_arg,
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declare_xfer_format_arg,
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declare_publish_freq_arg,
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livox_driver,
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livox_rviz,
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]) |