65 lines
2.3 KiB
Python
65 lines
2.3 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='serial')
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serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0')
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serial_baudrate = LaunchConfiguration('serial_baudrate', default='256000')
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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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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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'serial_port',
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default_value=serial_port,
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description='Specifying usb port to connected lidar'),
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DeclareLaunchArgument(
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'serial_baudrate',
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default_value=serial_baudrate,
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description='Specifying usb port baudrate 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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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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'serial_port': serial_port,
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'serial_baudrate': serial_baudrate,
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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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output='screen'),
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])
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