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33 lines
1.1 KiB
33 lines
1.1 KiB
<launch>
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<!-- RPLIDAR A1 -->
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<node name="lidar_node" pkg="rplidar_ros" type="rplidarNode" output="screen">
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<param name="serial_port" type="string" value="/dev/hello-lrf"/>
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<param name="serial_baudrate" type="int" value="115200"/>
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<param name="frame_id" type="string" value="laser"/>
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<param name="inverted" type="bool" value="false"/>
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<param name="angle_compensate" type="bool" value="true"/>
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<param name="scan_mode" type="string" value="Boost"/>
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</node>
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<node pkg="laser_filters" type="scan_to_scan_filter_chain"
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name="laser_filter">
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<rosparam ns="scan_filter_chain">
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- name: shadows
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type: laser_filters/ScanShadowsFilter
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params:
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min_angle: 10
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max_angle: 170
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neighbors: 20
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window: 1
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</rosparam>
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</node>
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<!-- -->
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<!--
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"lidar supported modes
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Standard: max_distance: 12.0 m, Point number: 2.0K
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Express: max_distance: 12.0 m, Point number: 4.0K
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Boost: max_distance: 12.0 m, Point number: 8.0K"
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-->
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</launch>
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