Merge pull request #104 from altrouge/launch_options

Add more options in launch files.
ros-drivers · Aug 26, 2016 · 34d1dad · 34d1dad
2 parents 109a51f + 0b03832
commit 34d1dad
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Showing 5 changed files with 52 additions and 14 deletions.
diff --git a/velodyne_driver/launch/nodelet_manager.launch b/velodyne_driver/launch/nodelet_manager.launch
@@ -9,22 +9,27 @@
   <!-- start nodelet manager and load driver nodelet -->
   <node pkg="nodelet" type="nodelet" name="velodyne_nodelet_manager"
         args="manager" />
+  <arg name="device_ip" default="" />
+  <arg name="frame_id" default="velodyne" />
   <arg name="model" default="64E" />
   <arg name="pcap" default="" />
-  <arg name="read_once" default="false" />
+  <arg name="port" default="2368" />
   <arg name="read_fast" default="false" />
+  <arg name="read_once" default="false" />
   <arg name="repeat_delay" default="0.0" />
   <arg name="rpm" default="600.0" />
-  <arg name="frame_id" default="velodyne" />
+
   <node pkg="nodelet" type="nodelet" name="driver_nodelet"
         args="load velodyne_driver/DriverNodelet velodyne_nodelet_manager" >
+    <param name="device_ip" value="$(arg device_ip)" />
+    <param name="frame_id" value="$(arg frame_id)"/>
     <param name="model" value="$(arg model)"/>
     <param name="pcap" value="$(arg pcap)"/>
-    <param name="read_once" value="$(arg read_once)"/>
+    <param name="port" value="$(arg port)" />
     <param name="read_fast" value="$(arg read_fast)"/>
+    <param name="read_once" value="$(arg read_once)"/>
     <param name="repeat_delay" value="$(arg repeat_delay)"/>
     <param name="rpm" value="$(arg rpm)"/>
-    <param name="frame_id" value="$(arg frame_id)"/>
   </node>    
 
 </launch>
diff --git a/velodyne_pointcloud/launch/32e_points.launch b/velodyne_pointcloud/launch/32e_points.launch
@@ -10,18 +10,36 @@
 <launch>
 
   <!-- declare arguments with default values -->
-  <arg name="pcap" default="" />
   <arg name="calibration" default="$(find velodyne_pointcloud)/params/32db.yaml"/>
+  <arg name="device_ip" default="" />
+  <arg name="frame_id" default="velodyne" />
+  <arg name="max_range" default="130.0" />
+  <arg name="min_range" default="0.4" />
+  <arg name="pcap" default="" />
+  <arg name="port" default="2368" />
+  <arg name="read_fast" default="false" />
+  <arg name="read_once" default="false" />
+  <arg name="repeat_delay" default="0.0" />
+  <arg name="rpm" default="600.0" />
 
   <!-- start nodelet manager and driver nodelets -->
   <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
+    <arg name="device_ip" value="$(arg device_ip)"/>
+    <arg name="frame_id" value="$(arg frame_id)"/>
     <arg name="model" value="32E"/>
     <arg name="pcap" value="$(arg pcap)"/>
+    <arg name="port" value="$(arg port)"/>
+    <arg name="read_fast" value="$(arg read_fast)"/>
+    <arg name="read_once" value="$(arg read_once)"/>
+    <arg name="repeat_delay" value="$(arg repeat_delay)"/>
+    <arg name="rpm" value="$(arg rpm)"/>
   </include>
 
   <!-- start cloud nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
     <arg name="calibration" value="$(arg calibration)"/>
+    <arg name="max_range" value="$(arg max_range)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
   </include>
 
 </launch>
diff --git a/velodyne_pointcloud/launch/VLP16_points.launch b/velodyne_pointcloud/launch/VLP16_points.launch
@@ -8,22 +8,36 @@
 <launch>
 
   <!-- declare arguments with default values -->
-  <arg name="pcap" default="" />
   <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
-  <arg name="min_range" default="0.4" />
+  <arg name="device_ip" default="" />
+  <arg name="frame_id" default="velodyne" />
   <arg name="max_range" default="130.0" />
+  <arg name="min_range" default="0.4" />
+  <arg name="pcap" default="" />
+  <arg name="port" default="2368" />
+  <arg name="read_fast" default="false" />
+  <arg name="read_once" default="false" />
+  <arg name="repeat_delay" default="0.0" />
+  <arg name="rpm" default="600.0" />
 
   <!-- start nodelet manager and driver nodelets -->
   <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
+    <arg name="device_ip" value="$(arg device_ip)"/>
+    <arg name="frame_id" value="$(arg frame_id)"/>
     <arg name="model" value="VLP16"/>
     <arg name="pcap" value="$(arg pcap)"/>
+    <arg name="port" value="$(arg port)"/>
+    <arg name="read_fast" value="$(arg read_fast)"/>
+    <arg name="read_once" value="$(arg read_once)"/>
+    <arg name="repeat_delay" value="$(arg repeat_delay)"/>
+    <arg name="rpm" value="$(arg rpm)"/>
   </include>
 
   <!-- start cloud nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
     <arg name="calibration" value="$(arg calibration)"/>
-    <arg name="min_range" value="$(arg min_range)"/>
     <arg name="max_range" value="$(arg max_range)"/>
+    <arg name="min_range" value="$(arg min_range)"/>
   </include>
 
 </launch>
diff --git a/velodyne_pointcloud/launch/cloud_nodelet.launch b/velodyne_pointcloud/launch/cloud_nodelet.launch
@@ -8,12 +8,13 @@
 
 <launch>
   <arg name="calibration" default="" />
-  <arg name="min_range" default="0.9" />
   <arg name="max_range" default="130.0" />
+  <arg name="min_range" default="0.9" />
+
   <node pkg="nodelet" type="nodelet" name="cloud_nodelet"
         args="load velodyne_pointcloud/CloudNodelet velodyne_nodelet_manager">
     <param name="calibration" value="$(arg calibration)"/>
-    <param name="min_range" value="$(arg min_range)"/>
     <param name="max_range" value="$(arg max_range)"/>
+    <param name="min_range" value="$(arg min_range)"/>
   </node>
 </launch>
diff --git a/velodyne_pointcloud/launch/transform_nodelet.launch b/velodyne_pointcloud/launch/transform_nodelet.launch
@@ -8,14 +8,14 @@
 
 <launch>
   <arg name="calibration" default="" />
-  <arg name="min_range" default="0.9" />
-  <arg name="max_range" default="130.0" />
   <arg name="frame_id" default="odom" />
+  <arg name="max_range" default="130.0" />
+  <arg name="min_range" default="0.9" />
   <node pkg="nodelet" type="nodelet" name="transform_nodelet"
         args="load velodyne_pointcloud/TransformNodelet velodyne_nodelet_manager" >
     <param name="calibration" value="$(arg calibration)"/>
-    <param name="min_range" value="$(arg min_range)"/>
-    <param name="max_range" value="$(arg max_range)"/>
     <param name="frame_id" value="$(arg frame_id)"/>
+    <param name="max_range" value="$(arg max_range)"/>
+    <param name="min_range" value="$(arg min_range)"/>
   </node>
 </launch>