41 lines
1.6 KiB
XML
41 lines
1.6 KiB
XML
<!-- -*- mode: XML -*- -->
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<!-- start velodyne_driver/DriverNodelet in a nodelet manager -->
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<launch>
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<arg name="device_ip" default="" />
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<arg name="frame_id" default="velodyne" />
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<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
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<arg name="model" default="64E" />
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<arg name="pcap" default="" />
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<arg name="port" default="2368" />
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<arg name="read_fast" default="false" />
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<arg name="read_once" default="false" />
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<arg name="repeat_delay" default="0.0" />
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<arg name="rpm" default="600.0" />
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<arg name="gps_time" default="false" />
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<arg name="cut_angle" default="-0.01" />
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<arg name="timestamp_first_packet" default="false" />
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<!-- start nodelet manager -->
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<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
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<!-- load driver nodelet into it -->
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<node pkg="nodelet" type="nodelet" name="$(arg manager)_driver"
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args="load velodyne_driver/DriverNodelet $(arg manager)" >
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<param name="device_ip" value="$(arg device_ip)" />
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<param name="frame_id" value="$(arg frame_id)"/>
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<param name="model" value="$(arg model)"/>
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<param name="pcap" value="$(arg pcap)"/>
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<param name="port" value="$(arg port)" />
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<param name="read_fast" value="$(arg read_fast)"/>
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<param name="read_once" value="$(arg read_once)"/>
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<param name="repeat_delay" value="$(arg repeat_delay)"/>
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<param name="rpm" value="$(arg rpm)"/>
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<param name="gps_time" value="$(arg gps_time)"/>
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<param name="cut_angle" value="$(arg cut_angle)"/>
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<param name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
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</node>
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</launch>
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