add launch args to support multiple devices (#108)

velodyne_driver/launch/nodelet_manager.launch

@@ -1,16 +1,11 @@
 <!-- -*- mode: XML -*- -->
-<!-- start velodyne_driver/DriverNodelet in a nodelet manager
-
-     $Id$
-  -->
+<!-- start velodyne_driver/DriverNodelet in a nodelet manager -->
 
 <launch>
 
-  <!-- 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="manager" default="$(arg frame_id)_nodelet_manager" />
   <arg name="model" default="64E" />
   <arg name="pcap" default="" />
   <arg name="port" default="2368" />
@@ -19,8 +14,12 @@
   <arg name="repeat_delay" default="0.0" />
   <arg name="rpm" default="600.0" />
 
-  <node pkg="nodelet" type="nodelet" name="driver_nodelet"
-        args="load velodyne_driver/DriverNodelet velodyne_nodelet_manager" >
+  <!-- start nodelet manager -->
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />
+
+  <!-- load driver nodelet into it -->
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)_driver"
+        args="load velodyne_driver/DriverNodelet $(arg manager)" >
     <param name="device_ip" value="$(arg device_ip)" />
     <param name="frame_id" value="$(arg frame_id)"/>
     <param name="model" value="$(arg model)"/>

velodyne_pointcloud/launch/32e_points.launch

@@ -1,18 +1,13 @@
 <!-- -*- mode: XML -*- -->
-<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an HDL-32E
-
-     arg: calibration = path to calibration file (default: standard 32db.yaml)
-          pcap = path to packet capture file (default: use real device)
-
-     $Id$
-  -->
+<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an HDL-32E -->
 
 <launch>
 
   <!-- declare arguments with default values -->
   <arg name="calibration" default="$(find velodyne_pointcloud)/params/32db.yaml"/>
   <arg name="device_ip" default="" />
   <arg name="frame_id" default="velodyne" />
+  <arg name="manager" default="$(arg frame_id)_nodelet_manager" />
   <arg name="max_range" default="130.0" />
   <arg name="min_range" default="0.4" />
   <arg name="pcap" default="" />
@@ -26,6 +21,7 @@
   <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
     <arg name="device_ip" value="$(arg device_ip)"/>
     <arg name="frame_id" value="$(arg frame_id)"/>
+    <arg name="manager" value="$(arg manager)" />
     <arg name="model" value="32E"/>
     <arg name="pcap" value="$(arg pcap)"/>
     <arg name="port" value="$(arg port)"/>
@@ -38,6 +34,7 @@
   <!-- start cloud nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
     <arg name="calibration" value="$(arg calibration)"/>
+    <arg name="manager" value="$(arg manager)" />
     <arg name="max_range" value="$(arg max_range)"/>
     <arg name="min_range" value="$(arg min_range)"/>
   </include>

velodyne_pointcloud/launch/VLP16_points.launch

@@ -1,16 +1,13 @@
 <!-- -*- mode: XML -*- -->
-<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for an VLP-16
-
-     arg: calibration = path to calibration file (default: standard VLP16db.yaml)
-          pcap = path to packet capture file (default: use real device)
-  -->
+<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager for a VLP-16 -->
 
 <launch>
 
   <!-- declare arguments with default values -->
   <arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
   <arg name="device_ip" default="" />
   <arg name="frame_id" default="velodyne" />
+  <arg name="manager" default="$(arg frame_id)_nodelet_manager" />
   <arg name="max_range" default="130.0" />
   <arg name="min_range" default="0.4" />
   <arg name="pcap" default="" />
@@ -24,6 +21,7 @@
   <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
     <arg name="device_ip" value="$(arg device_ip)"/>
     <arg name="frame_id" value="$(arg frame_id)"/>
+    <arg name="manager" value="$(arg manager)" />
     <arg name="model" value="VLP16"/>
     <arg name="pcap" value="$(arg pcap)"/>
     <arg name="port" value="$(arg port)"/>
@@ -36,6 +34,7 @@
   <!-- start cloud nodelet -->
   <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
     <arg name="calibration" value="$(arg calibration)"/>
+    <arg name="manager" value="$(arg manager)" />
     <arg name="max_range" value="$(arg max_range)"/>
     <arg name="min_range" value="$(arg min_range)"/>
   </include>

velodyne_pointcloud/launch/cloud_nodelet.launch

@@ -1,18 +1,14 @@
 <!-- -*- mode: XML -*- -->
-<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager
-
-     arg: calibration = path to calibration file
-
-     $Id$
-  -->
+<!-- run velodyne_pointcloud/CloudNodelet in a nodelet manager -->
 
 <launch>
   <arg name="calibration" default="" />
+  <arg name="manager" default="velodyne_nodelet_manager" />
   <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">
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)_cloud"
+        args="load velodyne_pointcloud/CloudNodelet $(arg manager)">
     <param name="calibration" value="$(arg calibration)"/>
     <param name="max_range" value="$(arg max_range)"/>
     <param name="min_range" value="$(arg min_range)"/>

velodyne_pointcloud/launch/transform_nodelet.launch

@@ -1,18 +1,14 @@
 <!-- -*- mode: XML -*- -->
-<!-- run velodyne_pointcloud/TransformNodelet in a nodelet manager
-
-     arg: calibration = path to calibration file
-
-     $Id$
-  -->
+<!-- run velodyne_pointcloud/TransformNodelet in a nodelet manager -->
 
 <launch>
   <arg name="calibration" default="" />
   <arg name="frame_id" default="odom" />
+  <arg name="manager" default="velodyne_nodelet_manager" />
   <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" >
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)_transform"
+        args="load velodyne_pointcloud/TransformNodelet $(arg manager)" >
     <param name="calibration" value="$(arg calibration)"/>
     <param name="frame_id" value="$(arg frame_id)"/>
     <param name="max_range" value="$(arg max_range)"/>

velodyne_pointcloud/tests/cloud_nodelet_32e_hz.test

@@ -3,18 +3,12 @@
 
 <launch>
 
-  <!-- start nodelet manager and driver nodelets -->
-  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
-    <arg name="model" value="32E"/>
+  <!-- start nodelet manager, driver and cloud nodelets -->
+  <include file="$(find velodyne_pointcloud)/launch/32e_points.launch">
+    <arg name="frame_id" value="test_frame"/>
     <arg name="pcap" value="$(find velodyne_pointcloud)/tests/32e.pcap"/>
   </include>
 
-  <!-- start cloud nodelet using test calibration file -->
-  <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
-    <arg name="calibration"
-         value="$(find velodyne_pointcloud)/params/32db.yaml"/>
-  </include>
-
   <!-- verify PointCloud2 publication rate -->
   <test test-name="cloud_nodelet_32e_hz_test" pkg="rostest"
         type="hztest" name="hztest_cloud_nodelet_32e" >

velodyne_pointcloud/tests/cloud_nodelet_vlp16_hz.test

@@ -3,18 +3,12 @@
 
 <launch>
 
-  <!-- start nodelet manager and driver nodelets -->
-  <include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
-    <arg name="model" value="VLP16"/>
+  <!-- start nodelet manager, driver and cloud nodelets -->
+  <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
+    <arg name="frame_id" value="test_frame"/>
     <arg name="pcap" value="$(find velodyne_pointcloud)/tests/vlp16.pcap"/>
   </include>
 
-  <!-- start cloud nodelet using test calibration file -->
-  <include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
-    <arg name="calibration"
-         value="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
-  </include>
-
   <!-- verify PointCloud2 publication rate -->
   <test test-name="cloud_nodelet_vlp16_hz_test" pkg="rostest"
         type="hztest" name="hztest_cloud_nodelet_vlp16" >