motor pwm config via param and dynparam

CMakeLists.txt

@@ -1,34 +1,61 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rplidar_ros)
 
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rosconsole
+  sensor_msgs
+  dynamic_reconfigure
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+generate_dynamic_reconfigure_options(
+  cfg/Lidar.cfg
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+
+catkin_package(
+)
+
+###########
+## Build ##
+###########
+
 set(RPLIDAR_SDK_PATH "./sdk/")
 
-FILE(GLOB RPLIDAR_SDK_SRC 
+file(GLOB RPLIDAR_SDK_SRC
   "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"
   "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
   "${RPLIDAR_SDK_PATH}/src/*.cpp"
 )
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rosconsole
-  sensor_msgs
-)
-
 include_directories(
   ${RPLIDAR_SDK_PATH}/include
   ${RPLIDAR_SDK_PATH}/src
   ${catkin_INCLUDE_DIRS}
 )
 
-catkin_package()
-
 add_executable(rplidarNode src/node.cpp ${RPLIDAR_SDK_SRC})
 target_link_libraries(rplidarNode ${catkin_LIBRARIES})
+add_dependencies(rplidarNode ${catkin_EXPORTED_TARGETS})
 
 add_executable(rplidarNodeClient src/client.cpp)
 target_link_libraries(rplidarNodeClient ${catkin_LIBRARIES})
 
+#############
+## Install ##
+#############
+
 install(TARGETS rplidarNode rplidarNodeClient
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
@@ -39,3 +66,9 @@ install(DIRECTORY launch rviz sdk
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS
 )
+
+#############
+## Testing ##
+#############
+
+# vim: set ft=cmake et fenc=utf-8 ff=unix sts=0 sw=2 ts=2 :

cfg/Lidar.cfg

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+PACKAGE = "rplidar_ros"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("motor_pwm",    int_t,    0, "The motor pwm", 660,  200, 1000)
+
+exit(gen.generate(PACKAGE, "rplidar_ros", "Lidar"))

launch/rplidar.launch

@@ -1,9 +1,30 @@
 <launch>
+  <arg name="serial_port" default="/dev/ttyUSB0"/>
+  <arg name="serial_baudrate" default="115200"/>
+  <arg name="frame_id" default="laser"/>
+  <arg name="inverted" default="false"/>
+  <arg name="angle_compensate" default="true"/>
+  <arg name="motor_pwm" default="660"/>
+  <arg name="rviz" default="false"/>
+  <arg name="test" default="false"/>
+
   <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
-  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
-  <param name="serial_baudrate"     type="int"    value="115200"/>
-  <param name="frame_id"            type="string" value="laser"/>
-  <param name="inverted"            type="bool"   value="false"/>
-  <param name="angle_compensate"    type="bool"   value="true"/>
+    <param name="serial_port"         type="string" value="$(arg serial_port)"/>  
+    <param name="serial_baudrate"     type="int"    value="$(arg serial_baudrate)"/>
+    <param name="frame_id"            type="string" value="$(arg frame_id)"/>
+    <param name="inverted"            type="bool"   value="$(arg inverted)"/>
+    <param name="angle_compensate"    type="bool"   value="$(arg angle_compensate)"/>
+    <param name="motor_pwm"           type="int"    value="$(arg motor_pwm)"/>
   </node>
+
+  <group if="$(arg rviz)">
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz"/>
+  </group>
+
+  <group if="$(arg test)">
+    <node name="rplidarNodeClient" pkg="rplidar_ros"  type="rplidarNodeClient" output="screen"/>
+  </group>
+
 </launch>
+
+<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->

package.xml

@@ -12,9 +12,11 @@
   <build_depend>rosconsole</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>rosconsole</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
 
 </package>

src/client.cpp

@@ -57,7 +57,7 @@ int main(int argc, char **argv)
     ros::init(argc, argv, "rplidar_node_client");
     ros::NodeHandle n;
 
-    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/scan", 1000, scanCallback);
+    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/rplidarNode/scan", 1000, scanCallback);
 
     ros::spin();