Squashed 'lidar/sllidar_ros2/' content from commit 3430009

git-subtree-dir: lidar/sllidar_ros2 git-subtree-split: 34300099fadfc772965962dec837bf436706188f
2026-04-22 11:51:45 +00:00
commit 457f054053
104 changed files with 16895 additions and 0 deletions
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+#!/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='udp')
+    udp_ip = LaunchConfiguration('udp_ip', default='192.168.11.2')
+    udp_port = LaunchConfiguration('udp_port', default='8089') 
+    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='Sensitivity')
+    scan_frequency = LaunchConfiguration('scan_frequency', default='10')
+
+    return LaunchDescription([
+
+        DeclareLaunchArgument(
+            'channel_type',
+            default_value=channel_type,
+            description='Specifying channel type of lidar'),
+
+        DeclareLaunchArgument(
+            'udp_ip',
+            default_value=udp_ip,
+            description='Specifying udp ip to connected lidar'),
+
+        DeclareLaunchArgument(
+            'udp_port',
+            default_value=udp_port,
+            description='Specifying udp port 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, 
+                         'udp_ip': udp_ip,
+                         'udp_port': udp_port,
+                         'frame_id': frame_id,
+                         'inverted': inverted, 
+                         'angle_compensate': angle_compensate, 
+                         'scan_mode': scan_mode}],
+            output='screen'),
+    ])
+