w-robin driver added

f1eighth_sensor_kit_launch/launch/ivu_pc2.py

@@ -0,0 +1,165 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.actions import SetEnvironmentVariable
+
+# from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # para_dir = os.path.join(get_package_share_directory('localizer'), 'config', 'localizer.yaml')
+    return LaunchDescription(
+        [
+            # set log color
+            SetEnvironmentVariable(name='RCUTILS_COLORIZED_OUTPUT', value='1'),
+
+            DeclareLaunchArgument(
+                'lidar_name',
+                default_value='falcon',
+                description='lidar name'
+            ),
+
+            DeclareLaunchArgument(
+                'frame_id',
+                default_value='innovusion',
+                description='ros frame id'
+            ),
+
+            DeclareLaunchArgument(
+                'replay_rosbag',
+                default_value='False',
+                description='replay rosbag flag'
+            ),
+
+            DeclareLaunchArgument(
+                'packets_mode',
+                default_value='False',
+                description='packets topic enable/disable'
+            ),
+
+            DeclareLaunchArgument(
+                'aggregate_num',
+                default_value='10',
+                description='aggregate packets num'
+            ),
+
+            DeclareLaunchArgument(
+                'device_ip',
+                default_value='172.168.1.10',
+                description='lidar ip'
+            ),
+
+            DeclareLaunchArgument(
+                'port',
+                default_value='8010',
+                description='recv data from tcp port(like 8010)'
+            ),
+
+            DeclareLaunchArgument(
+                'reflectance_mode',
+                default_value='True',
+                description='set lidar point cloud reflect mode, True or False'
+            ),
+
+            DeclareLaunchArgument(
+                'multiple_return',
+                default_value='1',
+                description='set lidar point cloud multiple return mode, 1/2/3'
+            ),
+
+            DeclareLaunchArgument(
+                'pcap_file',
+                default_value='',
+                description='Path to pcap file'
+            ),
+
+            DeclareLaunchArgument(
+                'udp_port',
+                default_value='8010',
+                description='recv data from udp port(like 8010), or use tcp as default(-1)'
+            ),
+
+            DeclareLaunchArgument(
+                'packet_rate',
+                default_value='10000',
+                description='play packet rate, default is 20, 0 means play as fast as possible, e.g, 15000 means play at 1.5x speed'
+            ),
+
+            DeclareLaunchArgument(
+                'file_rewind',
+                default_value='0',
+                description='file rewind, 0 means no rewind, < 0 means rewind infinity times'
+            ),
+
+            DeclareLaunchArgument(
+                'name_value_pairs',
+                default_value='',
+                description='name value pairs, e.g., "name1=value1,name2=value2"'
+            ),
+
+            DeclareLaunchArgument(
+                'output_topic',
+                default_value='iv_points',
+                description='output topic name'
+            ),
+
+            DeclareLaunchArgument(
+                'lidar_log_limit',
+                default_value='info',
+                description='limit log from lidar'
+            ),
+
+            DeclareLaunchArgument(
+                'max_range',
+                default_value='2000.0',
+                description='ros point cloud max range'
+            ),
+
+            DeclareLaunchArgument(
+                'min_range',
+                default_value='0.4',
+                description='ros point cloud min range'
+            ),
+
+            DeclareLaunchArgument(
+                'coordinate_mode',
+                default_value='0',
+                description='ros point cloud coordinate mode, 0/1/2/3/4'
+            ),
+
+            DeclareLaunchArgument(
+                'continue_live',
+                default_value='1',
+                description=''
+            ),
+
+            Node(
+                package="innovusion",
+                executable="publisher",
+                parameters=[
+                    {'packets_mode': LaunchConfiguration('packets_mode')},
+                    {'aggregate_num': LaunchConfiguration('aggregate_num')},
+                    {'replay_rosbag': LaunchConfiguration('replay_rosbag')},
+                    {"lidar_name": LaunchConfiguration('lidar_name')},
+                    {"frame_id": LaunchConfiguration('frame_id')},
+                    {'device_ip': LaunchConfiguration('device_ip')},
+                    {'port': LaunchConfiguration('port')},
+                    {"reflectance_mode": LaunchConfiguration('reflectance_mode')},
+                    {"multiple_return": LaunchConfiguration('multiple_return')},
+                    {'pcap_file': LaunchConfiguration('pcap_file')},
+                    {'packet_rate': LaunchConfiguration('packet_rate')},
+                    {'file_rewind': LaunchConfiguration('file_rewind')},
+                    {'udp_port': LaunchConfiguration('udp_port')},
+                    {"output_topic": LaunchConfiguration('output_topic')},
+                    {"lidar_log_limit": LaunchConfiguration('lidar_log_limit')},
+                    {"max_range": LaunchConfiguration('max_range')},
+                    {"min_range": LaunchConfiguration('min_range')},
+                    {'name_value_pairs': LaunchConfiguration('name_value_pairs')},
+                    {"coordinate_mode": LaunchConfiguration('coordinate_mode')},
+                    {"continue_live": LaunchConfiguration('continue_live')},
+                ],
+            ),
+        ]
+    )