Wrap rviz node in class to simplify service handling and add motor pwm

param
robopeak · Feb 25, 2017 · 45efb0b · 45efb0b
1 parent 4a54ec7
commit 45efb0b
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Showing 6 changed files with 217 additions and 180 deletions.
diff --git a/launch/rplidar.launch b/launch/rplidar.launch
@@ -1,9 +1,30 @@
 <launch>
+  <arg name="serial_port" default="/dev/ttyUSB0"/>
+  <arg name="serial_baudrate" default="115200"/>
+  <arg name="frame_id" default="laser"/>
+  <arg name="inverted" default="false"/>
+  <arg name="angle_compensate" default="true"/>
+  <arg name="motor_pwm" default="660"/>
+  <arg name="rviz" default="false"/>
+  <arg name="test" default="false"/>
+
   <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
-  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
-  <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="serial_port"         type="string" value="$(arg serial_port)"/>  
+    <param name="serial_baudrate"     type="int"    value="$(arg serial_baudrate)"/>
+    <param name="frame_id"            type="string" value="$(arg frame_id)"/>
+    <param name="inverted"            type="bool"   value="$(arg inverted)"/>
+    <param name="angle_compensate"    type="bool"   value="$(arg angle_compensate)"/>
+    <param name="motor_pwm"           type="int"    value="$(arg motor_pwm)"/>
   </node>
+
+  <group if="$(arg rviz)">
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rplidar_ros)/rviz/rplidar.rviz"/>
+  </group>
+
+  <group if="$(arg test)">
+    <node name="rplidarNodeClient" pkg="rplidar_ros"  type="rplidarNodeClient" output="screen"/>
+  </group>
+
 </launch>
+
+<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->
diff --git a/launch/test_rplidar.launch b/launch/test_rplidar.launch
diff --git a/launch/view_rplidar.launch b/launch/view_rplidar.launch
diff --git a/rviz/rplidar.rviz b/rviz/rplidar.rviz
@@ -73,7 +73,7 @@ Visualization Manager:
       Size (Pixels): 5
       Size (m): 0.03
       Style: Squares
-      Topic: /scan
+      Topic: /rplidarNode/scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true

diff --git a/src/client.cpp b/src/client.cpp
@@ -57,7 +57,7 @@ int main(int argc, char **argv)
     ros::init(argc, argv, "rplidar_node_client");
     ros::NodeHandle n;
 
-    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/scan", 1000, scanCallback);
+    ros::Subscriber sub = n.subscribe<sensor_msgs::LaserScan>("/rplidarNode/scan", 1000, scanCallback);
 
     ros::spin();