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Update lidar.launch.py

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jj
2025-07-11 10:37:12 +08:00
parent 85bffd49fa
commit f694e03fdb
2 changed files with 9 additions and 12 deletions
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orbbec_camera/launch/lidar.launch.py
+3 -4
View File
@@ -79,11 +79,10 @@ def generate_launch_description():
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('accel_rate', default_value='50hz'),
DeclareLaunchArgument('accel_range', default_value='2g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
DeclareLaunchArgument('gyro_rate', default_value='50hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
]
orbbec_camera/src/ob_lidar_node.cpp
+6 -8
View File
@@ -191,8 +191,6 @@ void OBLidarNode::setupDevices() {
auto profiles = sensor->getStreamProfileList();
for (size_t j = 0; j < profiles->getCount(); j++) {
auto profile = profiles->getProfile(j);
RCLCPP_INFO_STREAM(logger_,
"profile->getType():" << magic_enum::enum_name((profile->getType())));
stream_index_pair sip{profile->getType(), 0};
if (sensors_.find(sip) != sensors_.end()) {
continue;
@@ -416,12 +414,12 @@ void OBLidarNode::setupPublishers() {
}
imu_gyro_accel_publisher_ = node_->create_publisher<sensor_msgs::msg::Imu>(
topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
topic_name = stream_name_[GYRO] + "/imu_info";
imu_info_publishers_[GYRO] = node_->create_publisher<orbbec_camera_msgs::msg::IMUInfo>(
topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
topic_name = stream_name_[ACCEL] + "/imu_info";
imu_info_publishers_[ACCEL] = node_->create_publisher<orbbec_camera_msgs::msg::IMUInfo>(
topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
// topic_name = stream_name_[GYRO] + "/imu_info";
// imu_info_publishers_[GYRO] = node_->create_publisher<orbbec_camera_msgs::msg::IMUInfo>(
// topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
// topic_name = stream_name_[ACCEL] + "/imu_info";
// imu_info_publishers_[ACCEL] = node_->create_publisher<orbbec_camera_msgs::msg::IMUInfo>(
// topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
} else {
for (const auto &stream_index : HID_STREAMS) {
if (!enable_stream_[stream_index]) {