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140 lines (126 loc) · 6.05 KB
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<launch>
<arg name="lidar0_name" default="lidar0" />
<arg name="lidar1_name" default="lidar1" />
<arg name="lidar2_name" default="lidar2" />
<group ns="$(arg lidar0_name)">
<!-- hardware parameters -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
<arg name="device_ip" default="192.168.1.201" />
<arg name="port" default="2368" />
<arg name="frame_id" default="$(arg lidar0_name)" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<!-- <arg name="cut_angle" default="-0.01" /> -->
<arg name="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
<!-- <arg name="cut_angle" value="$(arg cut_angle)"/> -->
</include>
<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>
</group>
<group ns="$(arg lidar1_name)">
<!-- hardware parameters -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
<arg name="device_ip" default="192.168.1.202" />
<arg name="port" default="2369" />
<arg name="frame_id" default="$(arg lidar1_name)" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<!-- <arg name="cut_angle" default="-0.01" /> -->
<arg name="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
<!-- <arg name="cut_angle" value="$(arg cut_angle)"/> -->
</include>
<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>
</group>
<group ns="$(arg lidar2_name)">
<!-- hardware parameters -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16_hires_db.yaml"/>
<arg name="device_ip" default="192.168.1.203" />
<arg name="port" default="2370" />
<arg name="frame_id" default="$(arg lidar2_name)" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600.0" />
<!-- <arg name="cut_angle" default="-0.01" /> -->
<arg name="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
<!-- <arg name="cut_angle" value="$(arg cut_angle)"/> -->
</include>
<!-- start cloud nodelet -->
<include file="$(find velodyne_pointcloud)/launch/cloud_nodelet.launch">
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
</include>
</group>
<group ns="core">
<rosparam file="$(find argos_s)/config/config.yaml" />
<node name="objectfinder" pkg="argos_s" type="objectfinder" args="/$(arg lidar0_name)/velodyne_points /$(arg lidar1_name)/velodyne_points /$(arg lidar2_name)/velodyne_points" respawn="false" output="screen" cwd="node" required="false" />
</group>
</launch>