-
Notifications
You must be signed in to change notification settings - Fork 125
/
sensor.launch
117 lines (105 loc) · 5.21 KB
/
sensor.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
<launch>
<arg name="ouster_ns" default="ouster" doc="Override the default namespace of all ouster nodes"/>
<arg name="sensor_hostname" doc="hostname or IP in dotted decimal form of the sensor"/>
<arg name="udp_dest" default=" " doc="hostname or IP where the sensor will send data packets"/>
<arg name="lidar_port" default="0" doc="port to which the sensor should send lidar data"/>
<arg name="imu_port" default="0" doc="port to which the sensor should send imu data"/>
<arg name="udp_profile_lidar" default=" " doc="lidar packet profile; possible values: {
LEGACY,
RNG19_RFL8_SIG16_NIR16,
RNG15_RFL8_NIR8
RNG19_RFL8_SIG16_NIR16_DUAL,
FUSA_RNG15_RFL8_NIR8_DUAL
}"/>
<arg name="lidar_mode" default=" " doc="resolution and rate; possible values: {
512x10,
512x20,
1024x10,
1024x20,
2048x10,
4096x5
}"/>
<arg name="timestamp_mode" default=" " doc="method used to timestamp measurements; possible values: {
TIME_FROM_INTERNAL_OSC,
TIME_FROM_SYNC_PULSE_IN,
TIME_FROM_PTP_1588,
TIME_FROM_ROS_TIME
}"/>
<arg name="ptp_utc_tai_offset" default="-37.0"
doc="UTC/TAI offset in seconds to apply when using TIME_FROM_PTP_1588"/>
<arg name="metadata" default=" " doc="path to write metadata file when receiving sensor data"/>
<arg name="viz" default="true" doc="whether to run a rviz"/>
<arg name="rviz_config" default="$(find ouster_ros)/config/viz.rviz" doc="optional rviz config file"/>
<arg name="tf_prefix" default=" " doc="namespace for tf transforms"/>
<arg name="sensor_frame" default="os_sensor"
doc="sets name of choice for the sensor_frame tf frame, value can not be empty"/>
<arg name="lidar_frame" default="os_lidar"
doc="sets name of choice for the os_lidar tf frame, value can not be empty"/>
<arg name="imu_frame" default="os_imu"
doc="sets name of choice for the os_imu tf frame, value can not be empty"/>
<arg name="point_cloud_frame" default=" "
doc="which frame to be used when publishing PointCloud2 or LaserScan messages.
Choose between the value of sensor_frame or lidar_frame, leaving this value empty
would set lidar_frame to be the frame used when publishing these messages."/>
<arg name="no_bond" default="false"
doc="request no bond setup when nodelets are created"/>
<arg if="$(arg no_bond)" name="_no_bond" value="--no-bond"/>
<arg unless="$(arg no_bond)" name="_no_bond" value=" "/>
<arg name="dynamic_transforms_broadcast" default="false"
doc="static or dynamic transforms broadcast"/>
<arg name="dynamic_transforms_broadcast_rate" default="1.0"
doc="set the rate (Hz) of broadcast when using dynamic broadcast; minimum value is 1 Hz"/>
<arg name="proc_mask" default="IMG|PCL|IMU|SCAN" doc="
The IMG flag here is not supported and does not affect anything,
to disable image topics you would need to omit the os_image node
from the launch file"/>
<arg name="scan_ring" default="0" doc="
use this parameter in conjunction with the SCAN flag
and choose a value the range [0, sensor_beams_count)"/>
<arg name="point_type" default="original" doc="point type for the generated point cloud;
available options: {
original,
native,
xyz,
xyzi,
xyzir
}"/>
<group ns="$(arg ouster_ns)">
<node pkg="nodelet" type="nodelet" name="os_nodelet_mgr"
output="screen" required="true" args="manager"/>
</group>
<group ns="$(arg ouster_ns)">
<node pkg="nodelet" type="nodelet" name="os_node"
output="screen" required="true"
args="load ouster_ros/OusterSensor os_nodelet_mgr $(arg _no_bond)">
<param name="~/sensor_hostname" type="str" value="$(arg sensor_hostname)"/>
<param name="~/udp_dest" type="str" value="$(arg udp_dest)"/>
<param name="~/lidar_port" type="int" value="$(arg lidar_port)"/>
<param name="~/imu_port" type="int" value="$(arg imu_port)"/>
<param name="~/udp_profile_lidar" type="str" value="$(arg udp_profile_lidar)"/>
<param name="~/lidar_mode" type="str" value="$(arg lidar_mode)"/>
<param name="~/timestamp_mode" type="str" value="$(arg timestamp_mode)"/>
<param name="~/metadata" type="str" value="$(arg metadata)"/>
</node>
</group>
<include file="$(find ouster_ros)/launch/common.launch">
<arg name="ouster_ns" value="$(arg ouster_ns)"/>
<arg name="viz" value="$(arg viz)"/>
<arg name="rviz_config" value="$(arg rviz_config)"/>
<arg name="tf_prefix" value="$(arg tf_prefix)"/>
<arg name="sensor_frame" value="$(arg sensor_frame)"/>
<arg name="lidar_frame" value="$(arg lidar_frame)"/>
<arg name="imu_frame" value="$(arg imu_frame)"/>
<arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
<arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
<arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
<arg name="_no_bond" value="$(arg _no_bond)"/>
<arg name="dynamic_transforms_broadcast"
value="$(arg dynamic_transforms_broadcast)"/>
<arg name="dynamic_transforms_broadcast_rate"
value="$(arg dynamic_transforms_broadcast_rate)"/>
<arg name="proc_mask" value="$(arg proc_mask)"/>
<arg name="scan_ring" value="$(arg scan_ring)"/>
<arg name="point_type" value="$(arg point_type)"/>
</include>
</launch>