mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
relocated launch files
This commit is contained in:
Ruixiang Du
@@ -1,52 +0,0 @@
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<launch>
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<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
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<param name="port_name" type="string" value="can0" />
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<param name="odom_frame" type="string" value="odom" />
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<param name="base_frame" type="string" value="base_link" />
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<param name="simulated_robot" type="bool" value="false" />
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</node>
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<node name="sensor_hub_raw_imu" pkg="scout_base" type="imu_broadcast_node" output="screen"/>
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<include file="$(find scout_base)/launch/sensor_rslidar16.launch" />
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<!--
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<include file="$(find scout_base)/launch/sensor_d435i.launch" />
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-->
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<param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!--
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<node pkg="tf2_ros" type="static_transform_publisher" name="lidar3d_tf_broadcaster" args="0.25 0 0.4 0 0 0 1 base_link rslidar" />
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<node pkg="tf2_ros" type="static_transform_publisher" name="imu_tf_broadcaster" args="0.0 0 0.0 0 0 0 1 base_link imu" />
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-->
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<node name="pointcloud_to_laserscan" pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node">
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<remap from="cloud_in" to="/rslidar_points"/>
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<rosparam>
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transform_tolerance: 0.01
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min_height: 0.2
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max_height: 0.5
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angle_min: -3.14
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angle_max: 3.14
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angle_increment: 0.01256
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scan_time: 0.1
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range_min: 0.2
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range_max: 60.0
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use_inf: true
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#concurrency_level affects number of pc queued for processing and the number of threadsused
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# 0: Detect number of cores
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# 1: Single threaded
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# 2: inf : Parallelism level
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concurrency_level: 1
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</rosparam>
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</node>
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<!-- <param name="robot_description" textfile="$(find scout_base)/model/agilex_scout.urdf" />
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<param name="robot_description" command="$(find xacro)/xacro '$(find scout_base)/model/scout.urdf.xacro'" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> -->
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</launch>
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@@ -1,20 +0,0 @@
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<launch>
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<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
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<param name="port_name" type="string" value="can0" />
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<param name="odom_frame" type="string" value="odom" />
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<param name="base_frame" type="string" value="base_link" />
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<param name="simulated_robot" type="bool" value="false" />
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</node>
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<node name="sensor_hub_raw_imu" pkg="scout_base" type="imu_broadcast_node" output="screen"/>
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<include file="$(find scout_base)/launch/sensor_rslidar16.launch" />
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<!--
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<include file="$(find scout_base)/launch/sensor_d435i.launch" />
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-->
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<param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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</launch>
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@@ -1,103 +0,0 @@
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<launch>
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<arg name="serial_no" default=""/>
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<arg name="json_file_path" default=""/>
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<arg name="camera" default="camera"/>
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<arg name="tf_prefix" default="$(arg camera)"/>
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<arg name="external_manager" default="false"/>
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<arg name="manager" default="realsense2_camera_manager"/>
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<arg name="fisheye_width" default="640"/>
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<arg name="fisheye_height" default="480"/>
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<arg name="enable_fisheye" default="true"/>
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<arg name="depth_width" default="640"/>
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<arg name="depth_height" default="480"/>
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<arg name="enable_depth" default="true"/>
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<arg name="infra_width" default="640"/>
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<arg name="infra_height" default="480"/>
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<arg name="enable_infra1" default="true"/>
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<arg name="enable_infra2" default="true"/>
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<arg name="color_width" default="640"/>
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<arg name="color_height" default="480"/>
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<arg name="enable_color" default="true"/>
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<arg name="fisheye_fps" default="30"/>
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<arg name="depth_fps" default="30"/>
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<arg name="infra_fps" default="30"/>
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<arg name="color_fps" default="30"/>
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<arg name="gyro_fps" default="400"/>
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<arg name="accel_fps" default="250"/>
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<arg name="enable_gyro" default="true"/>
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<arg name="enable_accel" default="true"/>
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<arg name="enable_pointcloud" default="false"/>
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<arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
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<arg name="pointcloud_texture_index" default="0"/>
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<arg name="enable_sync" default="true"/>
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<arg name="align_depth" default="false"/>
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<arg name="filters" default=""/>
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<arg name="clip_distance" default="-2"/>
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<arg name="linear_accel_cov" default="0.01"/>
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<arg name="initial_reset" default="false"/>
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<arg name="unite_imu_method" default="linear_interpolation"/>
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<arg name="topic_odom_in" default="odom_in"/>
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<arg name="calib_odom_file" default=""/>
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<arg name="publish_odom_tf" default="true"/>
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<arg name="allow_no_texture_points" default="false"/>
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<group ns="$(arg camera)">
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<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
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<arg name="tf_prefix" value="$(arg tf_prefix)"/>
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<arg name="external_manager" value="$(arg external_manager)"/>
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<arg name="manager" value="$(arg manager)"/>
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<arg name="serial_no" value="$(arg serial_no)"/>
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<arg name="json_file_path" value="$(arg json_file_path)"/>
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<arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/>
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<arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
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<arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/>
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<arg name="enable_sync" value="$(arg enable_sync)"/>
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<arg name="align_depth" value="$(arg align_depth)"/>
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<arg name="fisheye_width" value="$(arg fisheye_width)"/>
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<arg name="fisheye_height" value="$(arg fisheye_height)"/>
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<arg name="enable_fisheye" value="$(arg enable_fisheye)"/>
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<arg name="depth_width" value="$(arg depth_width)"/>
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<arg name="depth_height" value="$(arg depth_height)"/>
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<arg name="enable_depth" value="$(arg enable_depth)"/>
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<arg name="color_width" value="$(arg color_width)"/>
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<arg name="color_height" value="$(arg color_height)"/>
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<arg name="enable_color" value="$(arg enable_color)"/>
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<arg name="infra_width" value="$(arg infra_width)"/>
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<arg name="infra_height" value="$(arg infra_height)"/>
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<arg name="enable_infra1" value="$(arg enable_infra1)"/>
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<arg name="enable_infra2" value="$(arg enable_infra2)"/>
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<arg name="fisheye_fps" value="$(arg fisheye_fps)"/>
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<arg name="depth_fps" value="$(arg depth_fps)"/>
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<arg name="infra_fps" value="$(arg infra_fps)"/>
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<arg name="color_fps" value="$(arg color_fps)"/>
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<arg name="gyro_fps" value="$(arg gyro_fps)"/>
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<arg name="accel_fps" value="$(arg accel_fps)"/>
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<arg name="enable_gyro" value="$(arg enable_gyro)"/>
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<arg name="enable_accel" value="$(arg enable_accel)"/>
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<arg name="filters" value="$(arg filters)"/>
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<arg name="clip_distance" value="$(arg clip_distance)"/>
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<arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/>
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<arg name="initial_reset" value="$(arg initial_reset)"/>
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<arg name="unite_imu_method" value="$(arg unite_imu_method)"/>
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<arg name="topic_odom_in" value="$(arg topic_odom_in)"/>
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<arg name="calib_odom_file" value="$(arg calib_odom_file)"/>
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<arg name="publish_odom_tf" value="$(arg publish_odom_tf)"/>
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<arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/>
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</include>
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</group>
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</launch>
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@@ -1,31 +0,0 @@
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<!--
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Copyright 2016 The Cartographer Authors
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<launch>
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<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
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<!-- Run a passthrough filter on the z axis -->
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<node pkg="nodelet" type="nodelet" name="passthrough_z" args="load pcl/PassThrough pcl_manager" output="screen">
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<remap from="~input" to="/rslidar_points" />
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<remap from="~output" to="/points2" />
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<rosparam>
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filter_field_name: z
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filter_limit_min: -0.8
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filter_limit_max: 1.0
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filter_limit_negative: False
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</rosparam>
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</node>
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</launch>
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@@ -1,40 +0,0 @@
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<launch>
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<arg name="model" default="RS16" />
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<!--
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<arg name="device_ip" default="192.168.1.200" />
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-->
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<arg name="device_ip" default="10.7.5.103" />
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<arg name="msop_port" default="6699" />
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<arg name="difop_port" default="7788" />
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<arg name="rpm" default="1200" />
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<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."/>
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<arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_16/"/>
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<node name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
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<param name="model" value="$(arg model)"/>
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<param name="device_ip" value="$(arg device_ip)" />
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<param name="msop_port" value="$(arg msop_port)" />
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<param name="difop_port" value="$(arg difop_port)"/>
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<param name="cut_angle" value="$(arg cut_angle)"/>
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<param name="rpm" value="$(arg rpm)"/>
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<!--param name="pcap" value="path_to_pcap"/-->
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</node>
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<node name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" >
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<param name="model" value="$(arg model)"/>
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<param name="curves_path" value="$(arg lidar_param_path)/curves.csv" />
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<param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
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<param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
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<param name="max_distance" value="200"/>
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<param name="min_distance" value="0.4"/>
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<param name="resolution_type" value="0.5cm"/>
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<param name="intensity_mode" value="1"/>
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<!-- remap from="rslidar_points" to="points2" /-->
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</node>
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<include file="$(find scout_base)/launch/sensor_rs16_filter.launch" />
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<!--
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rslidar_pointcloud)/rviz_cfg/rslidar.rviz" />
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-->
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</launch>
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