Skip to content

Fix: ld14p.launch.py file works for ld20 lidar #7

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ar-py-grim wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Fix: ld14p.launch.py file works for ld20 lidar #7

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 13 additions & 2 deletions launch/ld14p.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
#!/usr/bin/env python3
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

'''
Parameter Description:
Expand All @@ -20,13 +22,15 @@
{'angle_crop_max': 225.0}
which is [135.0, 225.0], angle unit is degress.
'''
ldlidar_sl_ros2_dir = get_package_share_directory('ldlidar_sl_ros2')
rviz_config_path = os.path.join(ldlidar_sl_ros2_dir, 'rviz2', 'ldlidar.rviz')

def generate_launch_description():
# LDROBOT LiDAR publisher node
ldlidar_node = Node(
package='ldlidar_sl_ros2',
executable='ldlidar_sl_ros2_node',
name='ldlidar_publisher_ld14',
name='ldlidar_publisher_ld20',
output='screen',
parameters=[
{'product_name': 'LDLiDAR_LD14P'},
Expand All @@ -49,12 +53,19 @@ def generate_launch_description():
name='base_link_to_base_laser_ld14p',
arguments=['0','0','0.18','0','0','0','base_link','base_laser']
)


rviz_node = Node(
package='rviz2',
executable='rviz2',
output='screen',
arguments=['-d', rviz_config_path]
)

# Define LaunchDescription variable
ld = LaunchDescription()

ld.add_action(ldlidar_node)
ld.add_action(base_link_to_laser_tf_node)
ld.add_action(rviz_node)

return ld
2 changes: 1 addition & 1 deletion rviz2/ldlidar.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -217,4 +217,4 @@ Window Geometry:
collapsed: false
Width: 1856
X: 62
Y: 27
Y: 27