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* separate launch file for humble and jazzy * remove snapcraft.yaml from version control
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| squashfs-root/ | ||
| *.snap | ||
| exported.txt | ||
| exported.txt | ||
| **/snapcraft.yaml |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,108 @@ | ||
| #!/usr/bin/env python3 | ||
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| import os | ||
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| from ament_index_python.packages import get_package_share_directory | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node, PushRosNamespace | ||
|
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| def get_frame_id(context): | ||
| device_ns = LaunchConfiguration('device_namespace').perform(context) | ||
| default_frame_id = LaunchConfiguration('frame_id').perform(context) | ||
| return f"{device_ns}_link" if device_ns else f"{default_frame_id}" | ||
|
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| def generate_launch_description(): | ||
| channel_type = LaunchConfiguration('channel_type', default='serial') | ||
| serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0') | ||
| serial_baudrate = LaunchConfiguration('serial_baudrate', default='256000') # for A3 is 256000 | ||
| frame_id = LaunchConfiguration('frame_id', default='laser') | ||
| inverted = LaunchConfiguration('inverted', default='false') | ||
| angle_compensate = LaunchConfiguration('angle_compensate', default='true') | ||
| scan_mode = LaunchConfiguration('scan_mode', default='') | ||
| namespace = LaunchConfiguration('namespace', default='') | ||
| device_namespace = LaunchConfiguration('device_namespace', default='') | ||
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| def launch_setup(context, *args, **kwargs): | ||
| frame_id_value = get_frame_id(context) | ||
| robot_ns = LaunchConfiguration('namespace').perform(context) | ||
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| remappings = [] | ||
| if robot_ns: | ||
| remappings.append(('/tf', f'/{robot_ns}/tf')) | ||
| remappings.append(('/tf_static', f'/{robot_ns}/tf_static')) | ||
| else: | ||
| remappings.append(('/tf', '/tf')) | ||
| remappings.append(('/tf_static', '/tf_static')) | ||
|
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| node = Node( | ||
| package='rplidar_ros', | ||
| executable='rplidar_composition', | ||
| name='rplidar_node', | ||
| parameters=[{ | ||
| 'channel_type': channel_type, | ||
| 'serial_port': serial_port, | ||
| 'serial_baudrate': serial_baudrate, | ||
| 'frame_id': frame_id_value, | ||
| 'inverted': inverted, | ||
| 'angle_compensate': angle_compensate, | ||
| 'scan_mode': scan_mode | ||
| }], | ||
| remappings=remappings, | ||
| output='screen' | ||
| ) | ||
|
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| return [PushRosNamespace(namespace), PushRosNamespace(device_namespace), node] | ||
|
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| return LaunchDescription([ | ||
|
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| DeclareLaunchArgument( | ||
| 'channel_type', | ||
| default_value=channel_type, | ||
| description='Specifying channel type of lidar'), | ||
|
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| DeclareLaunchArgument( | ||
| 'serial_port', | ||
| default_value=serial_port, | ||
| description='Specifying usb port to connected lidar'), | ||
|
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| DeclareLaunchArgument( | ||
| 'serial_baudrate', | ||
| default_value=serial_baudrate, | ||
| description='Specifying usb port baudrate to connected lidar'), | ||
|
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||
| DeclareLaunchArgument( | ||
| 'frame_id', | ||
| default_value=frame_id, | ||
| description='Specifying frame_id of lidar'), | ||
|
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| DeclareLaunchArgument( | ||
| 'inverted', | ||
| default_value=inverted, | ||
| description='Specifying whether or not to invert scan data'), | ||
|
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| DeclareLaunchArgument( | ||
| 'angle_compensate', | ||
| default_value=angle_compensate, | ||
| description='Specifying whether or not to enable angle_compensate of scan data'), | ||
|
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| DeclareLaunchArgument( | ||
| 'scan_mode', | ||
| default_value=scan_mode, | ||
| description='Specifying scan mode of lidar'), | ||
|
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| DeclareLaunchArgument( | ||
| 'namespace', | ||
| default_value='', | ||
| description='Namespace which will appear in front of all topics (including /tf and /tf_static).', | ||
| ), | ||
|
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| DeclareLaunchArgument( | ||
| 'device_namespace', | ||
| default_value='', | ||
| description='Sensor namespace that will appear before all non absolute topics and TF frames, used for distinguishing multiple cameras on the same robot.', | ||
| ), | ||
|
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| OpaqueFunction(function=launch_setup) | ||
| ]) |
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