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Signed-off-by: Shunsuke Miura <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,38 @@ | ||
| <launch> | ||
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| <!-- Params --> | ||
| <arg name="launch_driver" default="true"/> | ||
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| <arg name="model" default="Pandar128E4X"/> | ||
| <arg name="sensor_frame" default="pandar"/> | ||
| <arg name="return_mode" default="Strongest"/> | ||
| <arg name="sensor_ip" default="192.168.1.201"/> | ||
| <arg name="host_ip" default="255.255.255.255"/> | ||
| <arg name="data_port" default="2368"/> | ||
| <arg name="scan_phase" default="0.0"/> | ||
| <arg name="cloud_min_angle" default="0"/> | ||
| <arg name="cloud_max_angle" default="360"/> | ||
| <arg name="dual_return_distance_threshold" default="0.1"/> | ||
| <arg name="vehicle_mirror_param_file"/> | ||
| <arg name="container_name" default="hesai_node_container"/> | ||
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| <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py"> | ||
| <arg name="launch_driver" value="$(var launch_driver)"/> | ||
| <arg name="sensor_model" value="$(var model)"/> | ||
| <arg name="return_mode" value="$(var return_mode)"/> | ||
| <arg name="frame_id" value="$(var sensor_frame)"/> | ||
| <arg name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <arg name="host_ip" value="$(var host_ip)"/> | ||
| <arg name="data_port" value="$(var data_port)"/> | ||
| <arg name="scan_phase" value="$(var scan_phase)"/> | ||
| <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/> | ||
| <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/> | ||
| <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/> | ||
| <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/> | ||
| <arg name="use_intra_process" value="true"/> | ||
| <arg name="use_multithread" value="true"/> | ||
| <arg name="container_name" value="$(var container_name)"/> | ||
| <arg name="ptp_profile" value="802.1as"/> | ||
| <arg name="ptp_transport_type" value="L2"/> | ||
| </include> | ||
| </launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| <launch> | ||
|
|
||
| <!-- Params --> | ||
| <arg name="launch_driver" default="true"/> | ||
|
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| <arg name="model" default="PandarQT128"/> | ||
| <arg name="sensor_frame" default="pandar"/> | ||
| <arg name="return_mode" default="Strongest"/> | ||
| <arg name="sensor_ip" default="192.168.1.201"/> | ||
| <arg name="host_ip" default="255.255.255.255"/> | ||
| <arg name="data_port" default="2368"/> | ||
| <arg name="scan_phase" default="0.0"/> | ||
| <arg name="cloud_min_angle" default="0"/> | ||
| <arg name="cloud_max_angle" default="360"/> | ||
| <arg name="dual_return_distance_threshold" default="0.1"/> | ||
| <arg name="vehicle_mirror_param_file"/> | ||
| <arg name="container_name" default="hesai_node_container"/> | ||
|
|
||
| <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py"> | ||
| <arg name="launch_driver" value="$(var launch_driver)"/> | ||
| <arg name="sensor_model" value="$(var model)"/> | ||
| <arg name="return_mode" value="$(var return_mode)"/> | ||
| <arg name="frame_id" value="$(var sensor_frame)"/> | ||
| <arg name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <arg name="host_ip" value="$(var host_ip)"/> | ||
| <arg name="data_port" value="$(var data_port)"/> | ||
| <arg name="scan_phase" value="$(var scan_phase)"/> | ||
| <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/> | ||
| <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/> | ||
| <arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/> | ||
| <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/> | ||
| <arg name="use_intra_process" value="true"/> | ||
| <arg name="use_multithread" value="true"/> | ||
| <arg name="container_name" value="$(var container_name)"/> | ||
| <arg name="ptp_profile" value="1588v2"/> | ||
| <arg name="ptp_transport_type" value="UDP"/> | ||
| </include> | ||
| </launch> |