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feat(nebula_ros): support launch_hw parameter in console again to make replaying rosbags easier #190

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merged 3 commits into from
Sep 9, 2024
Merged

feat(nebula_ros): support launch_hw parameter in console again to make replaying rosbags easier #190

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bd25fc3
feat(nebula_ros): support `launch_hw` parameter in console again to m…
mojomex Sep 4, 2024
6b8d67c
chore(launch): replace tags with no children with self-closing tags
mojomex Sep 6, 2024
5dbecd3
Merge branch `tier4:develop` into launch-hw-launch-argument
mojomex Sep 6, 2024
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8 changes: 7 additions & 1 deletion nebula_ros/launch/continental_launch_all_hw.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,10 @@
<choice value="ARS548" />
<choice value="SRR520" />
</arg>
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
<choice value="true" />
<choice value="false" />
</arg>
<arg name="config_file" default="$(find-pkg-share nebula_ros)/config/radar/continental/$(var sensor_model).param.yaml"/>

<arg name="odometry_topic" default="odometry_input"/>
Expand All @@ -14,6 +18,7 @@

<node pkg="nebula_ros" exec="continental_ars548_ros_wrapper_node" name="nebula_continental_ars548" output="screen">
<param from="$(var config_file)" allow_substs="true"/>
<param name="launch_hw" value="$(var launch_hw)"/>
<remap from="/diagnostics" to="diagnostics"/>
<remap from="odometry_input" to="$(var odometry_topic)"/>
<remap from="acceleration_input" to="$(var acceleration_topic)"/>
Expand All @@ -24,7 +29,8 @@
<group if="$(eval &quot;'$(var sensor_model)' == 'SRR520' &quot;)" >

<node pkg="nebula_ros" exec="continental_srr520_ros_wrapper_node" name="nebula_continental_srr520" output="screen">
<param from="$(var config_file)" allow_substs="true"/>
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<param from="$(var config_file)" allow_substs="true"/>
<param name="launch_hw" value="$(var launch_hw)"/>
<remap from="/diagnostics" to="diagnostics"/>
<remap from="odometry_input" to="$(var odometry_topic)"/>
<remap from="acceleration_input" to="$(var acceleration_topic)"/>
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5 changes: 5 additions & 0 deletions nebula_ros/launch/hesai_launch_all_hw.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,15 @@
<choice value="PandarXT32" />
<choice value="PandarXT32M" />
</arg>
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
<choice value="true" />
<choice value="false" />
</arg>
<arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/$(var sensor_model).param.yaml"/>

<node pkg="nebula_ros" exec="hesai_ros_wrapper_node" name="hesai_ros_wrapper_node" output="screen">
<param from="$(var config_file)" allow_substs="true"/>
<param name="launch_hw" value="$(var launch_hw)"/>
</node>

</launch>
5 changes: 5 additions & 0 deletions nebula_ros/launch/robosense_launch_all_hw.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,15 @@
<choice value="Helios" />
<choice value="Bpearl" />
</arg>
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
<choice value="true" />
<choice value="false" />
</arg>
<arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/robosense/$(var sensor_model).param.yaml"/>

<node pkg="nebula_ros" exec="robosense_ros_wrapper_node" name="robosense_ros_wrapper_node" output="screen">
<param from="$(var config_file)" allow_substs="true"/>
<param name="launch_hw" value="$(var launch_hw)"/>
</node>

</launch>
5 changes: 5 additions & 0 deletions nebula_ros/launch/velodyne_launch_all_hw.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,15 @@
<choice value="VLP32" />
<choice value="VLS128" />
</arg>
<arg name="launch_hw" default="true" description="Whether to connect to a real sensor (true) or to accept packet messages (false).">
<choice value="true" />
<choice value="false" />
</arg>
<arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/velodyne/$(var sensor_model).param.yaml"/>

<node pkg="nebula_ros" exec="velodyne_ros_wrapper_node" name="velodyne_ros_wrapper_node" output="screen">
<param from="$(var config_file)" allow_substs="true"/>
<param name="launch_hw" value="$(var launch_hw)"/>
</node>

</launch>
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