GameElementLayer prototype

2026-03-25 19:25:10 +01:00
parent 7a2d74edd1
commit 8ba8585a29
10 changed files with 647 additions and 0 deletions
--- a/toid_lidar/launch/launch.py
+++ b/toid_lidar/launch/launch.py
@@ -0,0 +1,68 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("").find("toid_lidar")
+
+    lidar_config = PathJoinSubstitution([basedir, "params/lidar.yaml"])
+    rviz_config = PathJoinSubstitution([basedir, "rviz/conf.rviz"])
+
+    visualize = LaunchConfiguration("visualize")
+    draw_markers = LaunchConfiguration("draw_markers")
+    use_closest = LaunchConfiguration("use_closest")
+    lidar_frame = LaunchConfiguration("lidar_frame")
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'visualize',
+            default_value='False',
+            description="Whether to launch rviz2" 
+        ),
+        DeclareLaunchArgument(
+            'draw_markers',
+            default_value='False',
+            description="Draw markers" 
+        ),
+        DeclareLaunchArgument(
+            'use_closest',
+            default_value='True',
+            description="Use closest point for calibration" 
+        ),
+        DeclareLaunchArgument(
+            'lidar_frame',
+            default_value='lidar_frame',
+            description="TF frame of the lidar" 
+        ),
+        Node(
+            package='toid_lidar',
+            executable='toid_lidar',
+            output="screen",
+            parameters=[
+                lidar_config, 
+                {
+                    'closest': use_closest, 
+                    'draw_markers': draw_markers
+                }]
+        ),
+        Node(
+            package='rplidar_ros',
+            executable='rplidar_composition',
+            output="screen",
+            parameters=[lidar_config, {'frame_id': lidar_frame}]
+        ),
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config],
+            condition=IfCondition(visualize)
+        )
+    ])