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houyongdi
2026-07-27 14:50:01 +08:00
commit 36193aec44
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depends/lpmsig1opensourcelib-v0.3.0-20210907-a15087c817ad/ros_example/launch/lpmsbe1.launch
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<launch>
<!-- IG1 Sensor node -->
<node name="lpms_be1" pkg="lpms_ig1" type="lpms_be1_node" output="screen">
<param name="port" value="0001" type="string" />
<param name="baudrate" value="115200" type="int" />
<param name="frame_id" value="imu" type="string" />
</node>
<!-- imudata rad to deg conversion node -->
<node name="imudata_deg" pkg="lpms_ig1" type="imudata_rad_to_deg_node" />
<!-- Plots -->
<node name="plot_imu_gyro" pkg="rqt_plot" type="rqt_plot"
args="/angular_vel_deg" />
<node name="plot_imu_euler" pkg="rqt_plot" type="rqt_plot"
args="/rpy_deg" />
</launch>
depends/lpmsig1opensourcelib-v0.3.0-20210907-a15087c817ad/ros_example/launch/lpmsig1.launch
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<launch>
<!-- IG1 Sensor node -->
<node name="lpms_ig1" pkg="lpms_ig1" type="lpms_ig1_node">
<param name="port" value="/dev/ttyUSB0" type="string" />
<param name="baudrate" value="921600" type="int" />
<param name="frame_id" value="imu" type="string" />
</node>
<!-- imudata rad to deg conversion node -->
<node name="imudata_deg" pkg="lpms_ig1" type="imudata_rad_to_deg_node" />
<!-- Plots -->
<node name="plot_imu_gyro" pkg="rqt_plot" type="rqt_plot"
args="/angular_vel_deg" />
<node name="plot_imu_euler" pkg="rqt_plot" type="rqt_plot"
args="/rpy_deg" />
</launch>
depends/lpmsig1opensourcelib-v0.3.0-20210907-a15087c817ad/ros_example/launch/lpmsig1_rs485.launch
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<launch>
<!-- IG1 RS484 Sensor node -->
<node name="lpms_ig1_rs485" pkg="lpms_ig1" type="lpms_ig1_rs485_node">
<param name="port" value="/dev/ttyTHS5" type="string" />
<param name="baudrate" value="115200" type="int" />
<param name="rs485ControlPin" value="388" type="int" />
<param name="rs485ControlPinToggleWaitMs" value="2" type="int" />
<param name="frame_id" value="imu" type="string" />
</node>
<!-- imudata rad to deg conversion node -->
<node name="imudata_deg" pkg="lpms_ig1" type="imudata_rad_to_deg_node" />
<!-- Plots -->
<node name="plot_imu_gyro" pkg="rqt_plot" type="rqt_plot"
args="/angular_vel_deg" />
<node name="plot_imu_euler" pkg="rqt_plot" type="rqt_plot"
args="/rpy_deg" />
</launch>
depends/lpmsig1opensourcelib-v0.3.0-20210907-a15087c817ad/ros_example/launch/lpmsnav3.launch
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<launch>
<!-- IG1 Sensor node -->
<node name="lpms_nav3" pkg="lpms_ig1" type="lpms_nav3_node" output="screen">
<param name="port" value="/dev/ttyUSB0" type="string" />
<param name="baudrate" value="115200" type="int" />
<param name="frame_id" value="imu" type="string" />
</node>
<!-- imudata rad to deg conversion node -->
<node name="imudata_deg" pkg="lpms_ig1" type="imudata_rad_to_deg_node" />
<!-- Plots -->
<node name="plot_imu_gyro" pkg="rqt_plot" type="rqt_plot"
args="/angular_vel_deg" />
<node name="plot_imu_euler" pkg="rqt_plot" type="rqt_plot"
args="/rpy_deg" />
</launch>