73 lines
2.5 KiB
Python
73 lines
2.5 KiB
Python
#!/usr/bin/env python3
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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.actions import LogInfo
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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channel_type = LaunchConfiguration('channel_type', default='udp')
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udp_ip = LaunchConfiguration('udp_ip', default='192.168.11.2')
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udp_port = LaunchConfiguration('udp_port', default='8089')
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frame_id = LaunchConfiguration('frame_id', default='laser')
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inverted = LaunchConfiguration('inverted', default='false')
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angle_compensate = LaunchConfiguration('angle_compensate', default='true')
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scan_mode = LaunchConfiguration('scan_mode', default='Sensitivity')
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return LaunchDescription([
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DeclareLaunchArgument(
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'channel_type',
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default_value=channel_type,
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description='Specifying channel type of lidar'),
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DeclareLaunchArgument(
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'udp_ip',
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default_value=udp_ip,
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description='Specifying udp ip to connected lidar'),
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DeclareLaunchArgument(
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'udp_port',
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default_value=udp_port,
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description='Specifying udp port to connected lidar'),
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DeclareLaunchArgument(
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'frame_id',
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default_value=frame_id,
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description='Specifying frame_id of lidar'),
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DeclareLaunchArgument(
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'inverted',
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default_value=inverted,
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description='Specifying whether or not to invert scan data'),
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DeclareLaunchArgument(
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'angle_compensate',
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default_value=angle_compensate,
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description='Specifying whether or not to enable angle_compensate of scan data'),
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DeclareLaunchArgument(
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'scan_mode',
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default_value=scan_mode,
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description='Specifying scan mode of lidar'),
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Node(
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package='sllidar_ros2',
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executable='sllidar_node',
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name='sllidar_node',
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parameters=[{'channel_type': channel_type,
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'udp_ip': udp_ip,
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'udp_port': udp_port,
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'frame_id': frame_id,
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'inverted': inverted,
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'angle_compensate': angle_compensate,
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'scan_mode': scan_mode}],
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output='screen'),
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])
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