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Allow for changing lidar configs
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andyblarblar committed Mar 30, 2024
1 parent 0bb921e commit 7718051
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Showing 2 changed files with 11 additions and 2 deletions.
6 changes: 6 additions & 0 deletions phoenix_robot/config/ros2_sick/sick_lms111.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
ros2_sick:
ros__parameters:
frame_id: 'lidar_link'
host: '192.168.1.100'
port: 2112
tf_correction: true
7 changes: 5 additions & 2 deletions phoenix_robot/launch/common.launch.py
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution


def generate_launch_description():
Expand Down Expand Up @@ -65,7 +65,10 @@ def generate_launch_description():
os.path.join(pkg_isc_sick, 'launch')
, '/sick.launch.py'
]),
launch_arguments={'use_sim_time': use_sim_time}.items(),
launch_arguments={
'use_sim_time': use_sim_time,
'config_file': PathJoinSubstitution([pkg_phoenix_robot, 'config', 'ros2_sick', 'sick_lms111.yaml'])
}.items(),
)

pir = IncludeLaunchDescription(
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