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jj
2025-06-09 21:24:06 +08:00
parent b1ee682007
commit f06fc6de7f
8 changed files with 445 additions and 183 deletions
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orbbec_camera/launch/lidar.launch.py
+7 -1
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@@ -57,9 +57,15 @@ def generate_launch_description():
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'),
DeclareLaunchArgument('lidar_rate', default_value='0'),
DeclareLaunchArgument('scan_rate', default_value='0'),
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
@@ -69,7 +75,7 @@ def generate_launch_description():
DeclareLaunchArgument('net_device_ip', default_value=''),
DeclareLaunchArgument('net_device_port', default_value='0'),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('time_domain', default_value='device'),# global, device, system
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]