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| <?xml version="1.0"?> | ||
| <launch> | ||
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| <arg name="launch_hw" default="true" /> | ||
| <arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|PandarQT128|Pandar128E4X"/> | ||
| <arg name="return_mode" default="Dual" description="See readme for supported return modes"/> | ||
| <arg name="frame_id" default="hesai"/> | ||
| <arg name="scan_phase" default="0.0" /> | ||
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| <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/> | ||
| <arg name="dual_return_distance_threshold" default="0.1" description="Distance threshold of dual return mode"/> | ||
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| <arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/> | ||
| <arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/> | ||
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| <arg name="sensor_ip" default="192.168.1.201" description="Lidar Sensor IP"/> | ||
| <arg name="host_ip" default="255.255.255.255" description="Broadcast IP from Sensor"/> | ||
| <arg name="data_port" default="2368" description="LiDAR Data Port"/> | ||
| <arg name="gnss_port" default="2369" description="LiDAR GNSS Port"/> | ||
| <arg name="packet_mtu_size" default="1500" description="Packet MTU size"/> | ||
| <arg name="rotation_speed" default="600" description="Motor RPM, the sensor's internal spin rate."/> | ||
| <arg name="cloud_min_angle" default="0" description="Field of View, start degrees."/> | ||
| <arg name="cloud_max_angle" default="360" description="Field of View, end degrees."/> | ||
| <arg name="dual_return_distance_threshold" default="0.1" description="Distance threshold of dual return mode"/> | ||
| <arg name="diag_span" default="1000" description="milliseconds"/> | ||
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| <arg name="setup_sensor" default="True" description="Enable sensor setup on hw-driver."/> | ||
| <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/> | ||
| <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/> | ||
| <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/> | ||
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| <group> | ||
| <node_container pkg="rclcpp_components" exec="component_container_mt" name="PandarContainer" namespace="/"> | ||
| <composable_node pkg="nebula_ros" | ||
| plugin="HesaiDriverRosWrapper" | ||
| name="pandar_driver" | ||
| namespace=""> | ||
| <param name="sensor_model" value="$(var sensor_model)"/> | ||
| <param name="return_mode" value="$(var return_mode)"/> | ||
| <param name="frame_id" value="$(var frame_id)"/> | ||
| <param name="scan_phase" value="$(var scan_phase)"/> | ||
| <param name="sensor_ip" value="$(var sensor_ip)"/> | ||
| <param name="calibration_file" value="$(var calibration_file)"/> | ||
| <param name="correction_file" value="$(var correction_file)"/> | ||
| <param name="launch_hw" value="$(var launch_hw)"/> | ||
| <extra_arg name="use_intra_process_comms" value="true" /> | ||
| </composable_node> | ||
| </node_container> | ||
| </group> | ||
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| <group if="$(var launch_hw)"> | ||
| <load_composable_node target="PandarContainer"> | ||
| <composable_node pkg="nebula_ros" | ||
| plugin="HesaiHwInterfaceRosWrapper" | ||
| name="PandarHw" | ||
| namespace="/"> | ||
| <param name="sensor_model" value="$(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="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/> | ||
| <param name="setup_sensor" value="$(var setup_sensor)"/> | ||
| <param name="delay_hw_ms" value="$(var delay_hw_ms)"/> | ||
| <param name="retry_hw" value="$(var retry_hw)"/> | ||
| <extra_arg name="use_intra_process_comms" value="true" /> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
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| </launch> |