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='serial')
+    serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0')
+    serial_baudrate = LaunchConfiguration('serial_baudrate', default='256000') 
+    frame_id = LaunchConfiguration('frame_id', default='laser')
+    inverted = LaunchConfiguration('inverted', default='false')
+    angle_compensate = LaunchConfiguration('angle_compensate', default='true')
+
+    rviz_config_dir = os.path.join(
+            get_package_share_directory('sllidar_ros2'),
+            'rviz',
+            'sllidar_ros2.rviz')
+
+
+    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'),
+
+        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
+                         }],
+            output='screen'),
+
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config_dir],
+            output='screen'),
+    ])
+