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updated package structure and more fixes

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This commit is contained in:
Ruixiang Du
2019-10-07 23:14:29 +08:00
parent ccccce9d40
commit 829b6f8845
4459 changed files with 6640 additions and 518864 deletions
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40
scout_base/launch/sensor_rslidar16.launch Normal file
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<launch>
<arg name="model" default="RS16" />
<!--
<arg name="device_ip" default="192.168.1.200" />
-->
<arg name="device_ip" default="10.7.5.103" />
<arg name="msop_port" default="6699" />
<arg name="difop_port" default="7788" />
<arg name="rpm" default="1200" />
<arg name="cut_angle" default="0" doc="If set at [0, 360), cut at specific angle feature activated, otherwise use the fixed packets number mode."/>
<arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_16/"/>
<node name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
<param name="model" value="$(arg model)"/>
<param name="device_ip" value="$(arg device_ip)" />
<param name="msop_port" value="$(arg msop_port)" />
<param name="difop_port" value="$(arg difop_port)"/>
<param name="cut_angle" value="$(arg cut_angle)"/>
<param name="rpm" value="$(arg rpm)"/>
<!--param name="pcap" value="path_to_pcap"/-->
</node>
<node name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" >
<param name="model" value="$(arg model)"/>
<param name="curves_path" value="$(arg lidar_param_path)/curves.csv" />
<param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
<param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
<param name="max_distance" value="200"/>
<param name="min_distance" value="0.4"/>
<param name="resolution_type" value="0.5cm"/>
<param name="intensity_mode" value="1"/>
<!-- remap from="rslidar_points" to="points2" /-->
</node>
<include file="$(find scout_base)/launch/sensor_rs16_filter.launch" />
<!--
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rslidar_pointcloud)/rviz_cfg/rslidar.rviz" />
-->
</launch>