|
|
|
@ -0,0 +1,34 @@ |
|
|
|
<launch> |
|
|
|
|
|
|
|
<!-- |
|
|
|
supported lidar modes |
|
|
|
===================== |
|
|
|
Standard: max_distance: 12.0 m, Point number: 2.0K |
|
|
|
Express: max_distance: 12.0 m, Point number: 4.0K |
|
|
|
Boost: max_distance: 12.0 m, Point number: 8.0K" |
|
|
|
--> |
|
|
|
<arg name="scan_mode" default="Boost" doc="scanning mode of the lidar ('Standard', 'Express', or 'Boost')" /> |
|
|
|
|
|
|
|
<!-- RPLIDAR A1 --> |
|
|
|
<node name="lidar_node" pkg="rplidar_ros" type="rplidarNode" output="screen"> |
|
|
|
<param name="serial_port" type="string" value="/dev/hello-lrf"/> |
|
|
|
<param name="serial_baudrate" type="int" value="115200"/> |
|
|
|
<param name="frame_id" type="string" value="laser"/> |
|
|
|
<param name="inverted" type="bool" value="false"/> |
|
|
|
<param name="angle_compensate" type="bool" value="true"/> |
|
|
|
<param name="scan_mode" type="string" value="Boost"/> |
|
|
|
</node> |
|
|
|
|
|
|
|
<node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter"> |
|
|
|
<rosparam ns="scan_filter_chain"> |
|
|
|
- name: shadows |
|
|
|
type: laser_filters/ScanShadowsFilter |
|
|
|
params: |
|
|
|
min_angle: 10 |
|
|
|
max_angle: 170 |
|
|
|
neighbors: 20 |
|
|
|
window: 1 |
|
|
|
</rosparam> |
|
|
|
</node> |
|
|
|
|
|
|
|
</launch> |
Binit Shah
2 years ago