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41 lines
1.8 KiB
XML
41 lines
1.8 KiB
XML
<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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