FallenSigh
c12a35a4a2
TminiPro LiDAR driver with multi-model parameter configs (X4, G1, G2, G6, TminiPro, etc.), ROS2 lifecycle management, and RViz debug config. Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent) Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
64 lines
2.5 KiB
Python
64 lines
2.5 KiB
Python
#!/usr/bin/python3
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# Copyright 2020, EAIBOTd
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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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_ros.actions import LifecycleNode
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch.actions import LogInfo
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import lifecycle_msgs.msg
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import os
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def generate_launch_description():
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share_dir = get_package_share_directory('ydlidar_ros2_driver')
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rviz_config_file = os.path.join(share_dir, 'config','ydlidar.rviz')
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parameter_file = LaunchConfiguration('params_file')
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node_name = 'ydlidar_ros2_driver_node'
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params_declare = DeclareLaunchArgument('params_file',
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default_value=os.path.join(
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share_dir, 'params', 'TminiPro.yaml'),
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description='FPath to the ROS2 parameters file to use.')
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driver_node = LifecycleNode(package='ydlidar_ros2_driver',
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executable='ydlidar_ros2_driver_node',
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name='ydlidar_ros2_driver_node',
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output='screen',
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emulate_tty=True,
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parameters=[parameter_file],
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namespace='/',
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)
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tf2_node = Node(package='tf2_ros',
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executable='static_transform_publisher',
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name='static_tf_pub_laser',
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arguments=['0', '0', '0.02','0', '0', '0', '1','base_link','laser_frame'],
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)
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# rviz2_node = Node(package='rviz2',
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# executable='rviz2',
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# name='rviz2',
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# arguments=['-d', rviz_config_file],
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# )
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return LaunchDescription([
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params_declare,
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driver_node,
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tf2_node,
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#rviz2_node,
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])
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