63 lines
2.7 KiB
XML
63 lines
2.7 KiB
XML
<!-- -*- mode: XML -*- -->
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<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an HDL-32E -->
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<launch>
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<!-- declare arguments with default values -->
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<arg name="calibration" default="$(find velodyne_pointcloud)/params/32db.yaml"/>
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<arg name="device_ip" default="" />
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<arg name="frame_id" default="velodyne" />
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<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
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<arg name="max_range" default="130.0" />
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<arg name="min_range" default="0.4" />
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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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<arg name="laserscan_ring" default="-1" />
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<arg name="laserscan_resolution" default="0.007" />
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<arg name="organize_cloud" default="false" />
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<!-- start nodelet manager and driver nodelets -->
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<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
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<arg name="device_ip" value="$(arg device_ip)"/>
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<arg name="frame_id" value="$(arg frame_id)"/>
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<arg name="manager" value="$(arg manager)" />
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<arg name="model" value="32E"/>
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<arg name="pcap" value="$(arg pcap)"/>
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<arg name="port" value="$(arg port)"/>
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<arg name="read_fast" value="$(arg read_fast)"/>
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<arg name="read_once" value="$(arg read_once)"/>
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<arg name="repeat_delay" value="$(arg repeat_delay)"/>
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<arg name="rpm" value="$(arg rpm)"/>
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<arg name="gps_time" value="$(arg gps_time)"/>
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<arg name="cut_angle" value="$(arg cut_angle)"/>
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<arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
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</include>
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<!-- start cloud nodelet -->
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<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
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<arg name="model" value="32E"/>
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<arg name="calibration" value="$(arg calibration)"/>
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<arg name="manager" value="$(arg manager)" />
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<arg name="fixed_frame" value="$(arg frame_id)" />
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<arg name="target_frame" value="$(arg frame_id)" />
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<arg name="max_range" value="$(arg max_range)"/>
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<arg name="min_range" value="$(arg min_range)"/>
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<arg name="organize_cloud" value="$(arg organize_cloud)"/>
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</include>
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<!-- start laserscan nodelet -->
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<include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
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<arg name="manager" value="$(arg manager)" />
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<arg name="ring" value="$(arg laserscan_ring)"/>
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<arg name="resolution" value="$(arg laserscan_resolution)"/>
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</include>
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</launch>
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