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Update Lidar README

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jj
2025-06-11 15:25:01 +08:00
parent 721d07d1fb
commit 80d9ba170c
7 changed files with 206 additions and 59 deletions
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orbbec_camera/launch/lidar.launch.py
+57 -54
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@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
def load_yaml(file_path):
with open(file_path, 'r') as f:
with open(file_path, "r") as f:
return yaml.safe_load(f)
@@ -29,20 +29,22 @@ def convert_value(value):
return float(value)
except ValueError:
pass
if value.lower() == 'true':
if value.lower() == "true":
return True
elif value.lower() == 'false':
elif value.lower() == "false":
return False
return value
def load_parameters(context, args):
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
config_file_path = LaunchConfiguration('config_file_path').perform(context)
default_params = {
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
}
config_file_path = LaunchConfiguration("config_file_path").perform(context)
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {"config_file_path", "usb_port", "serial_number"}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -51,32 +53,32 @@ def load_parameters(context, args):
def generate_launch_description():
args = [
DeclareLaunchArgument('device_type', default_value='lidar'),
DeclareLaunchArgument('camera_name', default_value='lidar'),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('frame_id', default_value='scan'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
DeclareLaunchArgument('lidar_rate', default_value='20'),
DeclareLaunchArgument('min_angle', default_value='-135.0'),
DeclareLaunchArgument('max_angle', default_value='135.0'),
DeclareLaunchArgument('min_range', default_value='0.05'),
DeclareLaunchArgument('max_range', default_value='30.0'),
DeclareLaunchArgument('echo_mode', default_value='single channel'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
# If you do not want to automatically enumerate network devices,
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
DeclareLaunchArgument('enumerate_net_device', default_value='true'),
DeclareLaunchArgument('net_device_ip', default_value=''),
DeclareLaunchArgument('net_device_port', default_value='0'),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('time_domain', default_value='device'),# global, device, system
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument("device_type", default_value="lidar"),
DeclareLaunchArgument("camera_name", default_value="lidar"),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("upgrade_firmware", default_value=""),
DeclareLaunchArgument("connection_delay", default_value="10"),
DeclareLaunchArgument("publish_tf", default_value="true"),
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
DeclareLaunchArgument(
"lidar_format", default_value="ANY"
), # LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
DeclareLaunchArgument("lidar_rate", default_value="20"),
DeclareLaunchArgument("min_angle", default_value="-135.0"),
DeclareLaunchArgument("max_angle", default_value="135.0"),
DeclareLaunchArgument("min_range", default_value="0.05"),
DeclareLaunchArgument("max_range", default_value="30.0"),
DeclareLaunchArgument("echo_mode", default_value="single channel"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("enumerate_net_device", default_value="true"),
DeclareLaunchArgument("net_device_ip", default_value=""),
DeclareLaunchArgument("net_device_port", default_value="0"),
DeclareLaunchArgument("log_level", default_value="none"),
DeclareLaunchArgument(
"time_domain", default_value="device"
), # global, device, system
DeclareLaunchArgument("config_file_path", default_value=""),
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
]
def get_params(context, args):
@@ -98,29 +100,30 @@ def generate_launch_description():
]
else:
return [
GroupAction([
PushRosNamespace(LaunchConfiguration("camera_name")),
ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
parameters=params,
),
],
# prefix=["xterm -e gdb -ex run --args"],
output="screen",
)
])
GroupAction(
[
PushRosNamespace(LaunchConfiguration("camera_name")),
ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
parameters=params,
),
],
# prefix=["xterm -e gdb -ex run --args"],
output="screen",
),
]
)
]
return LaunchDescription(
args + [
OpaqueFunction(function=lambda context: create_node_action(context, args))
]
args
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
)