49 lines
1.7 KiB
XML
49 lines
1.7 KiB
XML
<!-- -*- mode: XML -*- -->
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<!-- rostest of publishing using two different nodelet managers. -->
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<launch>
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<!-- use separate namespaces for each device and its nodelet manager -->
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<group ns="hdl32e">
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<!-- start nodelet manager, driver and cloud nodelets -->
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<include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
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<arg name="frame_id" value="hdl32e"/>
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<arg name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
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</include>
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<!-- verify PointCloud2 publication rate -->
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<test test-name="multi_nodelet_32e_test" pkg="rostest"
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type="hztest" name="hztest_multi_nodelet_32e" >
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<param name="hz" value="10.0" />
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<param name="hzerror" value="3.0" />
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<param name="test_duration" value="5.0" />
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<param name="topic" value="/hdl32e/velodyne_points" />
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<param name="wait_time" value="2.0" />
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</test>
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</group>
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<group ns="vlp16">
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<!-- start nodelet manager, driver and cloud nodelets -->
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<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
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<arg name="frame_id" value="vlp16"/>
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<arg name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
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</include>
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<!-- verify PointCloud2 publication rate -->
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<test test-name="multi_nodelet_vlp16_test" pkg="rostest"
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type="hztest" name="hztest_multi_nodelet_vlp16" >
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<param name="hz" value="10.0" />
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<param name="hzerror" value="3.0" />
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<param name="test_duration" value="5.0" />
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<param name="topic" value="/vlp16/velodyne_points" />
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<param name="wait_time" value="2.0" />
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</test>
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</group>
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</launch>
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