Merge commit '457f054053fbd5277ca31ab40275a1d0802bbbc0' as 'lidar/sllidar_ros2'

2026-04-22 11:51:45 +00:00
parent f5ea157e21 457f054053
commit 3304573d28
104 changed files with 16895 additions and 0 deletions
@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import LogInfo
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    channel_type =  LaunchConfiguration('channel_type', default='serial')
+    serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0')
+    serial_baudrate = LaunchConfiguration('serial_baudrate', default='460800')
+    frame_id = LaunchConfiguration('frame_id', default='laser')
+    inverted = LaunchConfiguration('inverted', default='false')
+    angle_compensate = LaunchConfiguration('angle_compensate', default='true')
+    scan_mode = LaunchConfiguration('scan_mode', default='Standard')
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'channel_type',
+            default_value=channel_type,
+            description='Specifying channel type of lidar'),
+
+        DeclareLaunchArgument(
+            'serial_port',
+            default_value=serial_port,
+            description='Specifying usb port to connected lidar'),
+
+        DeclareLaunchArgument(
+            'serial_baudrate',
+            default_value=serial_baudrate,
+            description='Specifying usb port baudrate to connected lidar'),
+        
+        DeclareLaunchArgument(
+            'frame_id',
+            default_value=frame_id,
+            description='Specifying frame_id of lidar'),
+
+        DeclareLaunchArgument(
+            'inverted',
+            default_value=inverted,
+            description='Specifying whether or not to invert scan data'),
+
+        DeclareLaunchArgument(
+            'angle_compensate',
+            default_value=angle_compensate,
+            description='Specifying whether or not to enable angle_compensate of scan data'),
+
+        DeclareLaunchArgument(
+            'scan_mode',
+            default_value=scan_mode,
+            description='Specifying scan mode of lidar'),
+
+        Node(
+            package='sllidar_ros2',
+            executable='sllidar_node',
+            name='sllidar_node',
+            parameters=[{'channel_type':channel_type,
+                         'serial_port': serial_port, 
+                         'serial_baudrate': serial_baudrate, 
+                         'frame_id': frame_id,
+                         'inverted': inverted, 
+                         'angle_compensate': angle_compensate, 
+                         'scan_mode': scan_mode}],
+            output='screen'),
+    ])
+