28 lines
966 B
XML
28 lines
966 B
XML
<!-- -*- mode: XML -*- -->
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<!-- rostest of reading Velodyne 64E PCAP files -->
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<launch>
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<!-- start driver with example PCAP file -->
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<node pkg="velodyne_driver" type="velodyne_node" name="velodyne_node">
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<param name="pcap" value="$(find velodyne_pointcloud)/tests/class.pcap"/>
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</node>
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<!-- start cloud node with test calibration file -->
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<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
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<param name="calibration"
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value="$(find velodyne_pointcloud)/params/64e_utexas.yaml"/>
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</node>
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<!-- verify PointCloud2 publication rate -->
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<test test-name="cloud_node_hz_test" pkg="rostest"
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type="hztest" name="hztest_cloud_node_64e" >
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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="velodyne_points" />
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<param name="wait_time" value="2.0" />
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</test>
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</launch>
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