mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
Refactor: update LiDAR documentation and unify IMU parameter descriptions
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xiexun
@@ -51,36 +51,156 @@ def load_parameters(context, args):
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def generate_launch_description():
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args = [
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DeclareLaunchArgument('device_type', default_value='lidar'),
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DeclareLaunchArgument('camera_name', default_value='lidar'),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('upgrade_firmware', default_value=''),
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DeclareLaunchArgument('connection_delay', default_value='10'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
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DeclareLaunchArgument('lidar_rate', default_value='20'),
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DeclareLaunchArgument('enable_scan_to_point', default_value='false'),
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DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'),
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DeclareLaunchArgument('filter_level', default_value='-1'),
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DeclareLaunchArgument('vertical_fov', default_value='-1.0'),
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DeclareLaunchArgument('min_angle', default_value='-135.0'),
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DeclareLaunchArgument('max_angle', default_value='135.0'),
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DeclareLaunchArgument('min_range', default_value='0.05'),
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DeclareLaunchArgument('max_range', default_value='30.0'),
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DeclareLaunchArgument('echo_mode', default_value='single channel'),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('enumerate_net_device', default_value='true'),
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DeclareLaunchArgument('net_device_ip', default_value=''),
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DeclareLaunchArgument('net_device_port', default_value='0'),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('time_domain', default_value='device'),# global, device, system
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('enable_imu', default_value='true'),
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DeclareLaunchArgument('imu_rate', default_value='50hz'),
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DeclareLaunchArgument('accel_range', default_value='2g'),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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DeclareLaunchArgument(
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'device_type',
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default_value='lidar',
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description='Device type to start: lidar or camera. Set lidar to start LiDAR; set camera to start a camera device.'
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),
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DeclareLaunchArgument(
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'camera_name',
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default_value='lidar',
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description='Node namespace/device name. Used as prefix for topics, parameters, and TF.'
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),
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DeclareLaunchArgument(
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'device_num',
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default_value='1',
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description='Number of devices to start. Required when launching multiple devices.'
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),
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DeclareLaunchArgument(
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'upgrade_firmware',
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default_value='',
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description='Firmware file path. If set, attempts firmware upgrade on startup; empty means no upgrade.'
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),
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DeclareLaunchArgument(
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'connection_delay',
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default_value='10',
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description='Reopen delay after hot-plug (milliseconds). Prevents firmware issues caused by immediate reconnect.'
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),
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DeclareLaunchArgument(
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'publish_tf',
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default_value='true',
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description='Whether to publish TF frames. true to enable, false to disable.'
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),
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DeclareLaunchArgument(
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'tf_publish_rate',
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default_value='0.0',
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description='TF publish frequency in Hz. <= 0 means use default or publish on demand.'
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),
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DeclareLaunchArgument(
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'lidar_format',
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default_value='ANY', # LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
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description='LiDAR output format: LIDAR_POINT, LIDAR_SPHERE_POINT, or LIDAR_SCAN. ANY lets device/config decide.'
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),
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DeclareLaunchArgument(
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'lidar_rate',
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default_value='20',
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description='LiDAR scan/publish rate in Hz. Supported range depends on device model.'
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),
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DeclareLaunchArgument(
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'enable_scan_to_point',
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default_value='false',
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description='Convert LaserScan to PointCloud2 and publish. true to enable, false to disable.'
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),
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DeclareLaunchArgument(
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'repetitive_scan_mode',
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default_value='-1',
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description='Repetitive scan mode. -1 uses device default; other values depend on device capability.'
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),
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DeclareLaunchArgument(
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'filter_level',
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default_value='-1',
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description='Filtering level. -1 uses default; non-negative integers increase filtering strength.'
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),
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DeclareLaunchArgument(
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'vertical_fov',
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default_value='-1.0',
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description='Vertical field of view in degrees. -1 uses device default.'
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),
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DeclareLaunchArgument(
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'min_angle',
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default_value='-135.0',
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description='Minimum scan angle in degrees (e.g., -135.0).'
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),
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DeclareLaunchArgument(
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'max_angle',
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default_value='135.0',
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description='Maximum scan angle in degrees (e.g., 135.0).'
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),
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DeclareLaunchArgument(
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'min_range',
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default_value='0.05',
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description='Minimum measurable range in meters.'
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),
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DeclareLaunchArgument(
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'max_range',
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default_value='30.0',
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description='Maximum measurable range in meters.'
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),
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DeclareLaunchArgument(
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'echo_mode',
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default_value='single channel',
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description='Echo mode. Examples: single channel, First Echo, Last Echo. Actual options depend on device.'
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),
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DeclareLaunchArgument(
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'point_cloud_qos',
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default_value='default',
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description='QoS for PointCloud/LaserScan: SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, SENSOR_DATA (case-insensitive).'
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),
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DeclareLaunchArgument(
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'enumerate_net_device',
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default_value='true',
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description='Automatically enumerate network devices. true for auto-discovery; false to use specified IP/port only.'
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),
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DeclareLaunchArgument(
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'net_device_ip',
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default_value='',
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description='IP address of the network device. Leave empty to rely on enumeration or device defaults.'
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),
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DeclareLaunchArgument(
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'net_device_port',
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default_value='0',
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description='Port of the network device. 0 uses device/driver defaults.'
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),
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DeclareLaunchArgument(
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'log_level',
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default_value='none',
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description='SDK log level: none, debug, info, warn, error, fatal.'
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),
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DeclareLaunchArgument(
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'time_domain',
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default_value='device', # global, device, system
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description='Timestamp domain: device (device clock), global (time sync), or system (host clock).'
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),
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DeclareLaunchArgument(
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'config_file_path',
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default_value='',
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description='Path to a YAML config file. If provided, overrides same-name launch arguments; otherwise defaults apply.'
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),
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DeclareLaunchArgument(
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'enable_heartbeat',
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default_value='false',
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description='Send heartbeat to device. Enable when hardware logging/online monitoring is needed.'
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),
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DeclareLaunchArgument(
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'enable_imu',
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default_value='true',
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description='Enable IMU (accelerometer and gyroscope) data publishing.'
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),
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DeclareLaunchArgument(
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'imu_rate',
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default_value='50hz',
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description='IMU publish rate, e.g., 50hz, 100hz. Actual options depend on device.'
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),
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DeclareLaunchArgument(
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'accel_range',
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default_value='2g',
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description='Accelerometer range, e.g., 2g, 4g, 8g, 16g. Device-dependent.'
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),
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DeclareLaunchArgument(
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'gyro_range',
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default_value='1000dps',
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description='Gyroscope range, e.g., 250dps, 500dps, 1000dps, 2000dps. Device-dependent.'
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),
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]
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def get_params(context, args):
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