toid_lidar/launch/launch.py

@@ -7,6 +7,7 @@ from launch_ros.substitutions import FindPackageShare
 
 from pathlib import Path
 
+
 def generate_launch_description():
 
     basedir = FindPackageShare("").find("toid_lidar")
@@ -19,50 +20,48 @@ def generate_launch_description():
     use_closest = LaunchConfiguration("use_closest")
     lidar_frame = LaunchConfiguration("lidar_frame")
 
-    return LaunchDescription([
+    return LaunchDescription(
-        DeclareLaunchArgument(
+        [
-            'visualize',
+            DeclareLaunchArgument(
-            default_value='False',
+                "visualize",
-            description="Whether to launch rviz2" 
+                default_value="False",
-        ),
+                description="Whether to launch rviz2",
-        DeclareLaunchArgument(
+            ),
-            'draw_markers',
+            DeclareLaunchArgument(
-            default_value='False',
+                "draw_markers", default_value="False", description="Draw markers"
-            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(
-                }]
+                package="rplidar_ros",
-        ),
+                executable="rplidar_composition",
-        Node(
+                output="screen",
-            package='rplidar_ros',
+                parameters=[lidar_config, {"frame_id": lidar_frame}],
-            executable='rplidar_composition',
+            ),
-            output="screen",
+            Node(
-            parameters=[lidar_config, {'frame_id': lidar_frame}]
+                package="rviz2",
-        ),
+                executable="rviz2",
-        Node(
+                name="rviz2",
-            package='rviz2',
+                output="screen",
-            executable='rviz2',
+                arguments=["-d", rviz_config],
-            name='rviz2',
+                condition=IfCondition(visualize),
-            output='screen',
+            ),
-            arguments=['-d', rviz_config],
+        ]
-            condition=IfCondition(visualize)
+    )
-        )
-    ])