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ROS-398-fix-record-launch #399

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Nov 13, 2024
Merged

ROS-398-fix-record-launch #399

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16 changes: 15 additions & 1 deletion launch/record.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,16 @@
xyzir
}"/>

<arg name="organized" default="true"
doc="generate an organzied point cloud"/>
<arg name="destagger" default="true"
doc="enable or disable point cloud destaggering"/>

<arg name="min_range" default="0.0"
doc="minimum lidar range to consider (meters)"/>
<arg name="max_range" default="10000.0"
doc="maximum lidar range to consider (meters)"/>

<arg name="azimuth_window_start" default="0" doc="azimuth window start,
values range [0, 360000] millidegrees"/>
<arg name="azimuth_window_end" default="360000" doc="azimuth window end,
Expand Down Expand Up @@ -127,7 +137,7 @@
<arg name="lidar_frame" value="$(arg lidar_frame)"/>
<arg name="imu_frame" value="$(arg imu_frame)"/>
<arg name="point_cloud_frame" value="$(arg point_cloud_frame)"/>
<aeg name="pub_static_tf" value="$(arg pub_static_tf)"/>
<arg name="pub_static_tf" value="$(arg pub_static_tf)"/>
<arg name="timestamp_mode" value="$(arg timestamp_mode)"/>
<arg name="ptp_utc_tai_offset" value="$(arg ptp_utc_tai_offset)"/>
<arg name="dynamic_transforms_broadcast"
Expand All @@ -137,6 +147,10 @@
<arg name="proc_mask" value="$(arg proc_mask)"/>
<arg name="scan_ring" value="$(arg scan_ring)"/>
<arg name="point_type" value="$(arg point_type)"/>
<arg name="organized" value="$(arg organized)"/>
<arg name="destagger" value="$(arg destagger)"/>
<arg name="min_range" value="$(arg min_range)"/>
<arg name="max_range" value="$(arg max_range)"/>
</include>

<arg name="_use_bag_file_name" value="$(eval not (bag_file == ''))"/>
Expand Down