bridge.launch

<?xml version="1.0" encoding="utf-8"?>

<!--Copyright (c) 2021 - for information on the respective copyright owner
see the NOTICE file and/or the repository https://github.com/boschglobal/locator_ros_bridge.

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.-->

<launch>
  <!-- ip of the computer on which the bridge is running -->
  <arg name="bridge_ip" default="172.17.0.1"/>
  <!-- ip of the computer, on which the locator software is running -->
  <arg name="locator_ip" default="127.0.0.1"/>

  <!-- port at which the JSON RPC ROKIT Locator Client starts -->
  <arg name="locator_RPC_Port" default="8080"/>

  <!-- port at which the binary interface ClientControlMode starts -->
  <arg name="locator_binaryPortsStart" default="9004"/>

  <!-- name of the node -->
  <arg name="bridge_node_name" default="bridge_node"/>

  <!-- login credentials for the locator software -->
  <arg name="locator_user" default="admin"/>
  <arg name="locator_password" default="admin"/>

  <!-- whether for forward odometry data from ROS to locator -->
  <arg name="enable_odometry" default="false"/>

  <arg name="laser_datagram_port" default="2112"/>
  <arg name="laser_mirror_scans" default="false"/>
  <arg name="laser_x" default="0.0"/>
  <arg name="laser_y" default="0.0"/>
  <arg name="laser_yaw" default="0.0"/>  <!-- angle in degrees -->
  <arg name="laser_use_intensities" default="false"/>

  <arg name="laser2_enable" default="false"/>
  <arg name="laser2_datagram_port" default="2113"/>
  <arg name="laser2_mirror_scans" default="false"/>
  <arg name="laser2_x" default="0.0"/>
  <arg name="laser2_y" default="0.0"/>
  <arg name="laser2_yaw" default="0.0"/>  <!-- angle in degrees -->
  <arg name="laser2_use_intensities" default="false"/>

  <arg name="enable_reflector_markers" default="false"/>

  <arg name="odom_datagram_port" default="1111"/>

  <arg name="scan_topic" default="/scan"/>
  <arg name="scan2_topic" default="/scan2"/>
  <arg name="odom_topic" default="/odom"/>
  <arg name="odometry_velocity_set" default="false" doc="set to true if the velocity in the odometry should be used"/>

  <node pkg="bosch_locator_bridge" type="node" name="$(arg bridge_node_name)" output="screen" required="true">
    <param name="locator_host" value="$(arg locator_ip)" />
    <param name="locator_RPC_Port" value="$(arg locator_RPC_Port)" />
    <param name="locator_binaryPortsStart" value="$(arg locator_binaryPortsStart)" />
    <param name="laser_datagram_port" value="$(arg laser_datagram_port)"/>
    <param name="laser2_datagram_port" value="$(arg laser2_datagram_port)"/>
    <param name="odom_datagram_port" value="$(arg odom_datagram_port)"/>
    <param name="user_name" value="$(arg locator_user)"/>
    <param name="password" value="$(arg locator_password)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>
    <param name="scan2_topic" value="$(arg scan2_topic)"/>
    <param name="odom_topic" value="$(arg odom_topic)"/>
    <param name="odometry_velocity_set" value="$(arg odometry_velocity_set)"/>

    <!-- lasertype needs to be set to "simple" so that we can send LaserDatagrams
         (instead of using one of the laser drivers built into the locator software) -->
    <rosparam ns="localization_client_config" subst_value="true">
      ClientSensor.laser.type: simple
      ClientSensor.laser.address: $(arg bridge_ip):$(arg laser_datagram_port)
      ClientSensor.laser.mirrorLaserScans: $(arg laser_mirror_scans)
      ClientSensor.laser.vehicleTransformLaser.x: $(arg laser_x)
      ClientSensor.laser.vehicleTransformLaser.y: $(arg laser_y)
      ClientSensor.laser.vehicleTransformLaser.yaw: $(arg laser_yaw)
      ClientSensor.laser.useIntensities: $(arg laser_use_intensities)

      ClientSensor.enableLaser2: $(arg laser2_enable)
      ClientSensor.laser2.type: simple
      ClientSensor.laser2.address: $(arg bridge_ip):$(arg laser2_datagram_port)
      ClientSensor.laser2.mirrorLaserScans: $(arg laser2_mirror_scans)
      ClientSensor.laser2.vehicleTransformLaser.x: $(arg laser2_x)
      ClientSensor.laser2.vehicleTransformLaser.y: $(arg laser2_y)
      ClientSensor.laser2.vehicleTransformLaser.yaw: $(arg laser2_yaw)
      ClientSensor.laser2.useIntensities: $(arg laser2_use_intensities)

      ClientSensor.enableReflectorMarkers: $(arg enable_reflector_markers)

      ClientLocalization.autostart: false
      ClientSensor.enableOdometry: $(arg enable_odometry)
      ClientSensor.odometryEncryption: false
      ClientSensor.odometryAddress: $(arg bridge_ip):$(arg odom_datagram_port)
    </rosparam>
  </node>

</launch>