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Add accel and gyro topic publish

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jj
2025-07-10 21:26:54 +08:00
parent 9e2c5f1f43
commit 85bffd49fa
6 changed files with 395 additions and 10 deletions
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orbbec_camera/launch/lidar.launch.py
+8 -2
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@@ -62,8 +62,6 @@ def generate_launch_description():
DeclareLaunchArgument('lidar_rate', default_value='20'),
DeclareLaunchArgument('enable_scan_to_point', default_value='false'),
DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'),
DeclareLaunchArgument('enable_cloud_accumulated', default_value='false'),
DeclareLaunchArgument('cloud_accumulation_count', default_value='-1'),
DeclareLaunchArgument('filter_level', default_value='-1'),
DeclareLaunchArgument('vertical_fov', default_value='-1.0'),
DeclareLaunchArgument('min_angle', default_value='-135.0'),
@@ -79,6 +77,14 @@ def generate_launch_description():
DeclareLaunchArgument('time_domain', default_value='device'),# global, device, system
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
DeclareLaunchArgument('accel_rate', default_value='200hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
]
def get_params(context, args):