63 lines
2.7 KiB
XML
63 lines
2.7 KiB
XML
<!-- -*- mode: XML -*- -->
|
|
<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for a VLP-16 -->
|
|
|
|
<launch>
|
|
|
|
<!-- declare arguments with default values -->
|
|
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
|
|
<arg name="device_ip" default="" />
|
|
<arg name="frame_id" default="velodyne" />
|
|
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
|
|
<arg name="max_range" default="130.0" />
|
|
<arg name="min_range" default="0.4" />
|
|
<arg name="pcap" default="" />
|
|
<arg name="port" default="2368" />
|
|
<arg name="read_fast" default="false" />
|
|
<arg name="read_once" default="false" />
|
|
<arg name="repeat_delay" default="0.0" />
|
|
<arg name="rpm" default="600.0" />
|
|
<arg name="gps_time" default="false" />
|
|
<arg name="cut_angle" default="-0.01" />
|
|
<arg name="timestamp_first_packet" default="false" />
|
|
<arg name="laserscan_ring" default="-1" />
|
|
<arg name="laserscan_resolution" default="0.007" />
|
|
<arg name="organize_cloud" default="false" />
|
|
|
|
<!-- start nodelet manager and driver nodelets -->
|
|
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
|
|
<arg name="device_ip" value="$(arg device_ip)"/>
|
|
<arg name="frame_id" value="$(arg frame_id)"/>
|
|
<arg name="manager" value="$(arg manager)" />
|
|
<arg name="model" value="VLP16"/>
|
|
<arg name="pcap" value="$(arg pcap)"/>
|
|
<arg name="port" value="$(arg port)"/>
|
|
<arg name="read_fast" value="$(arg read_fast)"/>
|
|
<arg name="read_once" value="$(arg read_once)"/>
|
|
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
|
|
<arg name="rpm" value="$(arg rpm)"/>
|
|
<arg name="gps_time" value="$(arg gps_time)"/>
|
|
<arg name="cut_angle" value="$(arg cut_angle)"/>
|
|
<arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
|
|
</include>
|
|
|
|
<!-- start cloud nodelet -->
|
|
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
|
|
<arg name="model" value="VLP16"/>
|
|
<arg name="calibration" value="$(arg calibration)"/>
|
|
<arg name="manager" value="$(arg manager)" />
|
|
<arg name="fixed_frame" value="$(arg frame_id)" />
|
|
<arg name="target_frame" value="$(arg frame_id)" />
|
|
<arg name="max_range" value="$(arg max_range)"/>
|
|
<arg name="min_range" value="$(arg min_range)"/>
|
|
<arg name="organize_cloud" value="$(arg organize_cloud)"/>
|
|
</include>
|
|
|
|
<!-- start laserscan nodelet -->
|
|
<!-- <include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
|
|
<arg name="manager" value="$(arg manager)" />
|
|
<arg name="ring" value="$(arg laserscan_ring)"/>
|
|
<arg name="resolution" value="$(arg laserscan_resolution)"/>
|
|
</include> -->
|
|
|
|
</launch>
|