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Formating toid_lidar

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Pimpest
2026-04-11 15:56:28 +02:00
parent 53f3c073b8
commit f84ca5d3bf
1 changed files with 46 additions and 47 deletions
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57
toid_lidar/launch/launch.py
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@@ -7,6 +7,7 @@ from launch_ros.substitutions import FindPackageShare
from pathlib import Path from pathlib import Path
def generate_launch_description(): def generate_launch_description():
basedir = FindPackageShare("").find("toid_lidar") basedir = FindPackageShare("").find("toid_lidar")
@@ -19,50 +20,48 @@ def generate_launch_description():
use_closest = LaunchConfiguration("use_closest") use_closest = LaunchConfiguration("use_closest")
lidar_frame = LaunchConfiguration("lidar_frame") lidar_frame = LaunchConfiguration("lidar_frame")
return LaunchDescription([ return LaunchDescription(
[
DeclareLaunchArgument( DeclareLaunchArgument(
'visualize', "visualize",
default_value='False', default_value="False",
description="Whether to launch rviz2" description="Whether to launch rviz2",
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
'draw_markers', "draw_markers", default_value="False", description="Draw markers"
default_value='False',
description="Draw markers"
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
'use_closest', "use_closest",
default_value='True', default_value="True",
description="Use closest point for calibration" description="Use closest point for calibration",
), ),
DeclareLaunchArgument( DeclareLaunchArgument(
'lidar_frame', "lidar_frame",
default_value='lidar_frame', default_value="lidar_frame",
description="TF frame of the lidar" description="TF frame of the lidar",
), ),
Node( Node(
package='toid_lidar', package="toid_lidar",
executable='toid_lidar', executable="toid_lidar",
output="screen", output="screen",
parameters=[ parameters=[
lidar_config, lidar_config,
{ {"closest": use_closest, "draw_markers": draw_markers},
'closest': use_closest, ],
'draw_markers': draw_markers
}]
), ),
Node( Node(
package='rplidar_ros', package="rplidar_ros",
executable='rplidar_composition', executable="rplidar_composition",
output="screen", output="screen",
parameters=[lidar_config, {'frame_id': lidar_frame}] parameters=[lidar_config, {"frame_id": lidar_frame}],
), ),
Node( Node(
package='rviz2', package="rviz2",
executable='rviz2', executable="rviz2",
name='rviz2', name="rviz2",
output='screen', output="screen",
arguments=['-d', rviz_config], arguments=["-d", rviz_config],
condition=IfCondition(visualize) condition=IfCondition(visualize),
),
]
) )
])