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chore(nebula_node_container): make launchers work with Nebula v0.2.0 #106

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merged 2 commits into from
Oct 3, 2024
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chore(nebula_node_container): make launchers work with Nebula v0.2.0 #106

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c60b387
chore(nebula_node_container): make launchers work with Nebula v0.2.0
mojomex Sep 24, 2024
c984afb
chore(nebula_node_container): clean up imports
mojomex Sep 25, 2024
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46 changes: 8 additions & 38 deletions common_sensor_launch/launch/nebula_node_container.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,6 @@
from launch.conditions import UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from launch_ros.parameter_descriptions import ParameterFile
import yaml
Expand Down Expand Up @@ -113,16 +112,18 @@ def create_parameter_dict(*args):
nodes.append(
ComposableNode(
package="nebula_ros",
plugin=sensor_make + "DriverRosWrapper",
name=sensor_make.lower() + "_driver_ros_wrapper_node",
plugin=sensor_make + "RosWrapper",
name=sensor_make.lower() + "_ros_wrapper_node",
parameters=[
{
"calibration_file": sensor_calib_fp,
"sensor_model": sensor_model,
"launch_hw": LaunchConfiguration("launch_driver"),
**create_parameter_dict(
"host_ip",
"sensor_ip",
"data_port",
"gnss_port",
"return_mode",
"min_range",
"max_range",
Expand All @@ -131,6 +132,9 @@ def create_parameter_dict(*args):
"cloud_min_angle",
"cloud_max_angle",
"dual_return_distance_threshold",
"rotation_speed",
"packet_mtu_size",
"setup_sensor",
),
},
],
Expand Down Expand Up @@ -237,41 +241,7 @@ def create_parameter_dict(*args):
output="both",
)

driver_component = ComposableNode(
package="nebula_ros",
plugin=sensor_make + "HwInterfaceRosWrapper",
# node is created in a global context, need to avoid name clash
name=sensor_make.lower() + "_hw_interface_ros_wrapper_node",
parameters=[
{
"sensor_model": sensor_model,
"calibration_file": sensor_calib_fp,
**create_parameter_dict(
"sensor_ip",
"host_ip",
"scan_phase",
"return_mode",
"frame_id",
"rotation_speed",
"data_port",
"gnss_port",
"cloud_min_angle",
"cloud_max_angle",
"packet_mtu_size",
"dual_return_distance_threshold",
"setup_sensor",
),
}
],
)

driver_component_loader = LoadComposableNodes(
composable_node_descriptions=[driver_component],
target_container=container,
condition=IfCondition(LaunchConfiguration("launch_driver")),
)

return [container, driver_component_loader]
return [container]


def generate_launch_description():
Expand Down
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