fix(hesai_launch_component.launch.xml): launch HW monitor in the defa…

…ult component launch config
tier4 · Apr 2, 2024 · ed288ee · ed288ee
1 parent f8e5fd0
commit ed288ee
Showing 1 changed file with 25 additions and 0 deletions.
diff --git a/nebula_ros/launch/hesai_launch_component.launch.xml b/nebula_ros/launch/hesai_launch_component.launch.xml
@@ -85,6 +85,31 @@
                 <extra_arg name="use_intra_process_comms" value="true" />
             </composable_node>
         </load_composable_node>
+
+        <load_composable_node target="PandarContainer">
+            <composable_node pkg="nebula_ros" 
+                             plugin="HesaiHwMonitorRosWrapper"
+                             name="PandarMon" 
+                             namespace="/">
+                <param name="sensor_model" value="$(var sensor_model)"/>
+                <param name="return_mode" value="$(var return_mode)"/>
+                <param name="frame_id" value="$(var frame_id)"/>
+                <param name="scan_phase" value="$(var scan_phase)"/>
+                <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="gnss_port" value="$(var gnss_port)"/>
+                <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
+                <param name="rotation_speed" value="$(var rotation_speed)"/>
+                <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
+                <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
+                <param name="diag_span" value="$(var diag_span)"/>
+                <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+                <param name="delay_monitor_ms" value="$(var delay_monitor_ms)"/>
+                <extra_arg name="use_intra_process_comms" value="true" />
+            </composable_node>
+        </load_composable_node>
     </group>
 
 </launch>