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| <launch> | ||
| <arg name="sensor_model" description="Robin/Falcon"/> | ||
| <arg name="return_mode" default="Dual" description="See readme for supported return modes"/> | ||
| <arg name="frame_id" default="innovusion"/> | ||
| <arg name="sensor_ip" default="172.168.1.10" description="Lidar Sensor IP"/> | ||
| <arg name="host_ip" default="172.168.1.11" description="Local IP"/> | ||
| <arg name="data_port" default="8010" description="LiDAR Data Port"/> | ||
| <arg name="cloud_min_range" default="0.4" description="Min Point Range"/> | ||
| <arg name="cloud_max_range" default="2000.0" description="Max Point Range"/> | ||
| <arg name="setup_sensor" default="true" description="Enable sensor setup on hw-driver."/> | ||
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| <node_container pkg="rclcpp_components" exec="component_container" name="innovusion" namespace=""> | ||
| <composable_node pkg="nebula_ros" plugin="InnovusionDriverRosWrapper" name="innovusion_cloud" namespace=""> | ||
| <param name="sensor_model" value="$(var sensor_model)"/> | ||
| <param name="host_ip" value="$(var host_ip)"/> | ||
| <param name="return_mode" value="$(var return_mode)"/> | ||
| <param name="frame_id" value="$(var frame_id)"/> | ||
| <param name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <param name="cloud_min_range" value="$(var cloud_min_range)"/> | ||
| <param name="cloud_max_range" value="$(var cloud_max_range)"/> | ||
| </composable_node> | ||
| <composable_node pkg="nebula_ros" plugin="InnovusionHwInterfaceRosWrapper" name="innovusion_hw_driver" namespace=""> | ||
| <param name="sensor_model" value="$(var sensor_model)"/> | ||
| <param name="return_mode" value="$(var return_mode)"/> | ||
| <param name="frame_id" value="$(var frame_id)"/> | ||
| <param name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <param name="frame_id" value="$(var frame_id)"/> | ||
| <param name="host_ip" value="$(var host_ip)"/> | ||
| <param name="data_port" value="$(var data_port)"/> | ||
| <param name="setup_sensor" value="$(var setup_sensor)"/> | ||
| <param name="cloud_min_range" value="$(var cloud_min_range)"/> | ||
| <param name="cloud_max_range" value="$(var cloud_max_range)"/> | ||
| </composable_node> | ||
| <composable_node pkg="nebula_ros" plugin="InnovusionHwMonitorRosWrapper" name="innovusion_hw_monitor" namespace=""> | ||
| <param name="sensor_model" value="$(var sensor_model)"/> | ||
| <param name="return_mode" value="$(var return_mode)"/> | ||
| <param name="frame_id" value="$(var frame_id)"/> | ||
| <param name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <param name="frame_id" value="$(var frame_id)"/> | ||
| <param name="host_ip" value="$(var host_ip)"/> | ||
| <param name="data_port" value="$(var data_port)"/> | ||
| <param name="setup_sensor" value="$(var setup_sensor)"/> | ||
| <param name="cloud_min_range" value="$(var cloud_min_range)"/> | ||
| <param name="cloud_max_range" value="$(var cloud_max_range)"/> | ||
| </composable_node> | ||
| </node_container> | ||
| </launch> |