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feat(nebula_ros): support
launch_hw
parameter in console again to m…
…ake replaying rosbags easier
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Original file line number | Diff line number | Diff line change |
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@@ -1,10 +1,15 @@ | ||
<?xml version="1.0"?> | ||
<launch> | ||
<arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|PandarQT128|Pandar128E4X"/> | ||
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false)."> | ||
<choice value="true" /> | ||
<choice value="false" /> | ||
</arg> | ||
<arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/$(var sensor_model).param.yaml"/> | ||
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<node pkg="nebula_ros" exec="hesai_ros_wrapper_node" name="hesai_ros_wrapper_node" output="screen"> | ||
<param from="$(var config_file)" allow_substs="true"/> | ||
<param name="launch_hw" value="$(var launch_hw)"></param> | ||
</node> | ||
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</launch> |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,10 +1,15 @@ | ||
<?xml version="1.0"?> | ||
<launch> | ||
<arg name="sensor_model" description="Helios|Bpearl"/> | ||
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false)."> | ||
<choice value="true" /> | ||
<choice value="false" /> | ||
</arg> | ||
<arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/robosense/$(var sensor_model).param.yaml"/> | ||
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<node pkg="nebula_ros" exec="robosense_ros_wrapper_node" name="robosense_ros_wrapper_node" output="screen"> | ||
<param from="$(var config_file)" allow_substs="true"/> | ||
<param name="launch_hw" value="$(var launch_hw)"></param> | ||
</node> | ||
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</launch> |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,10 +1,15 @@ | ||
<?xml version="1.0"?> | ||
<launch> | ||
<arg name="sensor_model" description="VLP16|VLP32|VLS128"/> | ||
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false)."> | ||
<choice value="true" /> | ||
<choice value="false" /> | ||
</arg> | ||
<arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/velodyne/$(var sensor_model).param.yaml"/> | ||
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<node pkg="nebula_ros" exec="velodyne_ros_wrapper_node" name="velodyne_ros_wrapper_node" output="screen"> | ||
<param from="$(var config_file)" allow_substs="true"/> | ||
<param name="launch_hw" value="$(var launch_hw)"></param> | ||
</node> | ||
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</launch> |