mirror of
https://github.com/Livox-SDK/livox_ros_driver.git
synced 2023-04-06 15:49:55 +08:00
40 lines
1.6 KiB
XML
40 lines
1.6 KiB
XML
<launch>
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<arg name="lvx_file_path" default="livox_test.lvx"/>
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<arg name="bd_list" default="100000000000000"/>
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<arg name="xfer_format" default="0"/>
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<arg name="multi_topic" default="0"/>
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<arg name="data_src" default="1"/>
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<arg name="publish_freq" default="10.0"/>
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<arg name="output_type" default="0"/>
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<arg name="rviz_enable" default="false"/>
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<arg name="rosbag_enable" default="false"/>
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<arg name="cmdline_arg" default="$(arg bd_list)"/>
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<arg name="msg_frame_id" default="livox_frame"/>
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<param name="xfer_format" value="$(arg xfer_format)"/>
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<param name="multi_topic" value="$(arg multi_topic)"/>
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<param name="data_src" value="$(arg data_src)"/>
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<param name="publish_freq" type="double" value="$(arg publish_freq)"/>
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<param name="output_data_type" value="$(arg output_type)"/>
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<param name="cmdline_str" type="string" value="$(arg bd_list)"/>
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<param name="cmdline_file_path" type="string" value="$(arg lvx_file_path)"/>
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<param name="user_config_path" type="string" value="$(find livox_ros_driver)/config/livox_hub_config.json"/>
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<param name="frame_id" type="string" value="$(arg msg_frame_id)"/>
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<node name="livox_lidar_publisher" pkg="livox_ros_driver"
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type="livox_ros_driver_node" required="true"
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output="screen" args="$(arg cmdline_arg)"/>
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<group if="$(arg rviz_enable)">
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<node name="rviz" pkg="rviz" type="rviz" respawn="true"
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args="-d $(find livox_ros_driver)/config/display_hub_points.rviz"/>
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</group>
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<group if="$(arg rosbag_enable)">
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<node pkg="rosbag" type="record" name="record" output="screen"
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args="-a"/>
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</group>
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</launch>
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