Initial commit
This commit is contained in:
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<launch>
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<arg name="device_ip" default="192.168.10.6" />
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<arg name="msop_port" default="2368" />
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<arg name="difop_port" default="2369" />
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<arg name="return_mode" default="1" />
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<arg name="time_synchronization" default="false" />
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<node pkg="lslidar_c16_driver" type="lslidar_c16_driver_node" name="lslidar_c16_driver_node" output="screen">
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<!--param name="pcap" value="$(find lslidar_c16_driver)/pcap/xxx.pcap" /-->
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<param name="device_ip" value="$(arg device_ip)" />
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<param name="msop_port" value="$(arg msop_port)" />
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<param name="difop_port" value="$(arg difop_port)"/>
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<!-- <param name="frame_id" value="velodyne"/> -->
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<param name="frame_id" value="lidar"/>
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<param name="add_multicast" value="false"/>
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<param name="group_ip" value="224.1.1.2"/>
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<param name="rpm" value="600"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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</node>
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<node pkg="lslidar_c16_decoder" type="lslidar_c16_decoder_node" name="lslidar_c16_decoder_node" output="screen">
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<param name="scan_frame_id" value="laser_link"/>
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<param name="min_range" value="0.15"/>
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<param name="max_range" value="150.0"/>
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<param name="frequency" value="10"/>
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<param name="config_vert" value="true"/>
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<param name="print_vert" value="false"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="degree_mode" value="2"/>
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<param name="config_vert_file" value="false"/>
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<param name="distance_unit" value="0.25"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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<param name="scan_start_angle" value="0.0"/>
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<param name="scan_end_angle" value="36000.0"/>
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<param name="scan_num" value="8"/>
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<param name="publish_scan" value="false"/>
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<remap from="/scan_topic" to="scan"/>
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<param name="echo_second" value="false"/>
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<param name="pointcloud_topic" value="lslidar_point_cloud"/>
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<param name="coordinate_opt" value="true"/>
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</node>
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<!-- <node pkg="adaptive_clustering" type="adaptive_clustering" name="adaptive_clustering_node" output="screen">
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</node> -->
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<!-- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find lslidar_c16_decoder)/../../rviz_cfg/EcoCar.rviz" /> -->
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<!--node pkg="tf" type="static_transform_publisher" name="laser_link_to_world" args="0 0 0 0 0 0 world laser_link 100" /-->
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</launch>
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@@ -0,0 +1,89 @@
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<launch>
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<arg name="device_ip1" default="192.168.1.200" />
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<arg name="device_ip2" default="192.168.1.201" />
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<arg name="msop_port1" default="2368" />
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<arg name="difop_port1" default="2369" />
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<arg name="msop_port2" default="2370" />
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<arg name="difop_port2" default="2371" />
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<arg name="return_mode" default="1" />
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<arg name="time_synchronization" default="false" />
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<node pkg="lslidar_c16_driver" type="lslidar_c16_driver_node" name="lslidar_c16_driver_node" output="screen" ns="LeftLidar" >
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<param name="lidar_ip" value="$(arg device_ip1)" />
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<param name="msop_port" value="$(arg msop_port1)" />
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<param name="difop_port" value="$(arg difop_port1)"/>
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<param name="frame_id" value="laser_link_left"/>
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<param name="add_multicast" value="false"/>
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<param name="group_ip" value="224.1.1.2"/>
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<param name="rpm" value="600"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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</node>
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<node pkg="lslidar_c16_decoder" type="lslidar_c16_decoder_node" name="lslidar_c16_decoder_node" output="screen" ns="LeftLidar">
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<param name="scan_frame_id" value="laser_link"/>
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<param name="min_range" value="0.15"/>
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<param name="max_range" value="150.0"/>
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<param name="frequency" value="10"/>
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<param name="config_vert" value="true"/>
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<param name="print_vert" value="false"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="degree_mode" value="2"/>
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<param name="config_vert_file" value="false"/>
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<param name="distance_unit" value="0.25"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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<param name="scan_start_angle" value="0.0"/>
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<param name="scan_end_angle" value="36000.0"/>
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<param name="scan_num" value="8"/>
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<param name="publish_scan" value="true"/>
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<remap from="/scan_topic" to="scan"/>
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<param name="echo_second" value="false"/>
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<param name="pointcloud_topic" value="lslidar_point_cloud">
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<param name="coordinate_opt" value="true">
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</node>
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<node pkg="lslidar_c16_driver" type="lslidar_c16_driver_node" name="lslidar_c16_driver_node" output="screen" ns="RightLidar" >
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<param name="lidar_ip" value="$(arg device_ip2)" />
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<param name="msop_port" value="$(arg msop_port2)" />
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<param name="difop_port" value="$(arg difop_port2)"/>
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<param name="frame_id" value="laser_link_right"/>
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<param name="add_multicast" value="false"/>
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<param name="group_ip" value="224.1.1.2"/>
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<param name="rpm" value="600"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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</node>
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<node pkg="lslidar_c16_decoder" type="lslidar_c16_decoder_node" name="lslidar_c16_decoder_node" output="screen" ns="RightLidar">
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<param name="scan_frame_id" value="laser_link"/>
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<param name="min_range" value="0.15"/>
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<param name="max_range" value="150.0"/>
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<param name="frequency" value="10"/>
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<param name="config_vert" value="true"/>
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<param name="print_vert" value="false"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="degree_mode" value="2"/>
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<param name="config_vert_file" value="false"/>
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<param name="distance_unit" value="0.25"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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<param name="scan_start_angle" value="0.0"/>
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<param name="scan_end_angle" value="36000.0"/>
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<param name="scan_num" value="8"/>
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<param name="publish_scan" value="true"/>
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<remap from="/scan_topic" to="scan"/>
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<param name="echo_second" value="false"/>
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<param name="pointcloud_topic" value="lslidar_point_cloud">
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<param name="coordinate_opt" value="true">
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</node>
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<!--node pkg="tf" type="static_transform_publisher" name="laser_link_right_to_world" args="0 0 0 0 0 0 world laser_link_right 100" /-->
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<!--node pkg="tf" type="static_transform_publisher" name="laser_link_left_to_world" args="0 0 0 1 0 0 world laser_link_left 100" /-->
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</launch>
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@@ -0,0 +1,59 @@
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<launch>
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<arg name="child_frame_id" default="lslidar"/>
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<arg name="topic_packet" default="/apollo/sensor/lslidar_c16/LslidarPacket"/>
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<arg name="topic_pointcloud" default="/apollo/sensor/lslidar_c16/PointCloud2"/>
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<arg name="device_ip" default="192.168.1.200" />
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<arg name="msop_port" default="2368" />
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<arg name="difop_port" default="2369" />
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<arg name="return_mode" default="1" />
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<arg name="time_synchronization" default="true" />
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<arg name="manager_name" default="nodelet_manager"/>
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<!--include file="$(find lslidar_c16_driver)/launch/lslidar_c16_driver_nodelet.launch"/-->
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<!-- nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen" />
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<node pkg="nodelet" type="nodelet"
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name="lslidar_c16_driver_nodelet"
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args="load lslidar_c16_driver/DriverNodelet nodelet_manager" respawn="true">
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<param name="device_ip" value="$(arg device_ip)" />
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<param name="msop_port" value="$(arg msop_port)" />
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<param name="difop_port" value="$(arg difop_port)"/>
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<param name="frame_id" value="laser_link"/>
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<param name="add_multicast" value="false"/>
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<param name="group_ip" value="224.1.1.2"/>
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<param name="rpm" value="600"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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</node>
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<node pkg="nodelet" type="nodelet"
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name="LslidarC16DecoderNodelet"
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args="load lslidar_c16_decoder/LslidarC16DecoderNodelet
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$(arg manager_name)"
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output="screen" respawn="true">
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<param name="scan_frame_id" value="laser_link"/>
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<param name="min_range" value="0.15"/>
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<param name="max_range" value="150.0"/>
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<param name="config_vert" value="true"/>
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<param name="print_vert" value="false"/>
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<param name="return_mode" value="$(arg return_mode)"/>
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<param name="degree_mode" value="2"/>
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<param name="config_vert_file" value="false"/>
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<param name="distance_unit" value="0.25"/>
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<param name="time_synchronization" value="$(arg time_synchronization)"/>
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<param name="scan_start_angle" value="0.0"/>
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<param name="scan_end_angle" value="36000.0"/>
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<param name="scan_num" value="8"/>
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<param name="publish_scan" value="true"/>
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</node>
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<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find lslidar_c16_decoder)/launch/lslidar_c16.rviz" output="screen"/>
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-->
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</launch>
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