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Co-authored-by: Darin Keever <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,51 +1,72 @@ | ||
| #!/usr/bin/env python | ||
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| import os.path as osp | ||
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| from launch import LaunchDescription, logging | ||
| from launch.actions import IncludeLaunchDescription | ||
| from launch.launch_description_sources import \ | ||
| PythonLaunchDescriptionSource | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
| from launch_ros.substitutions import FindPackageShare | ||
| from launch.substitutions import ThisLaunchFileDir | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch.actions import DeclareLaunchArgument | ||
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| def generate_launch_description(): | ||
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| params = {'resolution': 0.15, | ||
| 'frame_id': 'map', | ||
| 'base_frame_id': 'base_footprint', | ||
| 'height_map': True, | ||
| 'colored_map': True, | ||
| 'color_factor': 0.8, | ||
| 'filter_ground': False, | ||
| 'filter_speckles': False, | ||
| 'ground_filter/distance': 0.04, | ||
| 'ground_filter/angle': 0.15, | ||
| 'ground_filter/plane_distance': 0.07, | ||
| 'compress_map': True, | ||
| 'incremental_2D_projection': False, | ||
| 'sensor_model/max_range': -1.0, | ||
| 'sensor_model/hit': 0.7, | ||
| 'sensor_model/miss': 0.4, | ||
| 'sensor_model/min': 0.12, | ||
| 'sensor_model/max': 0.97, | ||
| 'color/r': 0.0, | ||
| 'color/g': 0.0, | ||
| 'color/b': 1.0, | ||
| 'color/a': 1.0, | ||
| 'color_free/r': 0.0, | ||
| 'color_free/g': 0.0, | ||
| 'color_free/b': 1.0, | ||
| 'color_free/a': 1.0, | ||
| 'publish_free_space': False, | ||
| } | ||
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| remap = [('cloud_in', '/livox/lidar')] | ||
| node = Node(package='octomap_server2', | ||
| executable='octomap_server', | ||
| output='screen', | ||
| remappings=remap, | ||
| parameters=[params]) | ||
| return LaunchDescription([node]) | ||
| return LaunchDescription([ | ||
| DeclareLaunchArgument('input_cloud_topic', default_value='/livox/lidar'), | ||
| DeclareLaunchArgument('resolution', default_value='0.15'), | ||
| DeclareLaunchArgument('frame_id', default_value='map'), | ||
| DeclareLaunchArgument('base_frame_id', default_value='base_footprint'), | ||
| DeclareLaunchArgument('height_map', default_value='True'), | ||
| DeclareLaunchArgument('colored_map', default_value='True'), | ||
| DeclareLaunchArgument('color_factor', default_value='0.8'), | ||
| DeclareLaunchArgument('filter_ground', default_value='False'), | ||
| DeclareLaunchArgument('filter_speckles', default_value='False'), | ||
| DeclareLaunchArgument('ground_filter/distance', default_value='0.04'), | ||
| DeclareLaunchArgument('ground_filter/angle', default_value='0.15'), | ||
| DeclareLaunchArgument('ground_filter/plane_distance', default_value='0.07'), | ||
| DeclareLaunchArgument('compress_map', default_value='True'), | ||
| DeclareLaunchArgument('incremental_2D_projection', default_value='False'), | ||
| DeclareLaunchArgument('sensor_model/max_range', default_value='-1.0'), | ||
| DeclareLaunchArgument('sensor_model/hit', default_value='0.7'), | ||
| DeclareLaunchArgument('sensor_model/miss', default_value='0.4'), | ||
| DeclareLaunchArgument('sensor_model/min', default_value='0.12'), | ||
| DeclareLaunchArgument('sensor_model/max', default_value='0.97'), | ||
| DeclareLaunchArgument('color/r', default_value='0.0'), | ||
| DeclareLaunchArgument('color/g', default_value='0.0'), | ||
| DeclareLaunchArgument('color/b', default_value='1.0'), | ||
| DeclareLaunchArgument('color/a', default_value='1.0'), | ||
| DeclareLaunchArgument('color_free/r', default_value='0.0'), | ||
| DeclareLaunchArgument('color_free/g', default_value='0.0'), | ||
| DeclareLaunchArgument('color_free/b', default_value='1.0'), | ||
| DeclareLaunchArgument('color_free/a', default_value='1.0'), | ||
| DeclareLaunchArgument('publish_free_space', default_value='False'), | ||
| Node( | ||
| package='octomap_server2', | ||
| executable='octomap_server', | ||
| output='screen', | ||
| remappings=[('cloud_in', LaunchConfiguration('input_cloud_topic'))], | ||
| parameters=[{'resolution': LaunchConfiguration('resolution'), | ||
| 'frame_id': LaunchConfiguration('frame_id'), | ||
| 'base_frame_id': LaunchConfiguration('base_frame_id'), | ||
| 'height_map': LaunchConfiguration('height_map'), | ||
| 'colored_map': LaunchConfiguration('colored_map'), | ||
| 'color_factor': LaunchConfiguration('color_factor'), | ||
| 'filter_ground': LaunchConfiguration('filter_ground'), | ||
| 'filter_speckles': LaunchConfiguration('filter_speckles'), | ||
| 'ground_filter/distance': LaunchConfiguration('ground_filter/distance'), | ||
| 'ground_filter/angle': LaunchConfiguration('ground_filter/angle'), | ||
| 'ground_filter/plane_distance': LaunchConfiguration('ground_filter/plane_distance'), | ||
| 'compress_map': LaunchConfiguration('compress_map'), | ||
| 'incremental_2D_projection': LaunchConfiguration('incremental_2D_projection'), | ||
| 'sensor_model/max_range': LaunchConfiguration('sensor_model/max_range'), | ||
| 'sensor_model/hit': LaunchConfiguration('sensor_model/hit'), | ||
| 'sensor_model/miss': LaunchConfiguration('sensor_model/miss'), | ||
| 'sensor_model/min': LaunchConfiguration('sensor_model/min'), | ||
| 'sensor_model/max': LaunchConfiguration('sensor_model/max'), | ||
| 'color/r': LaunchConfiguration('color/r'), | ||
| 'color/g': LaunchConfiguration('color/g'), | ||
| 'color/b': LaunchConfiguration('color/b'), | ||
| 'color/a': LaunchConfiguration('color/a'), | ||
| 'color_free/r': LaunchConfiguration('color_free/r'), | ||
| 'color_free/g': LaunchConfiguration('color_free/g'), | ||
| 'color_free/b': LaunchConfiguration('color_free/b'), | ||
| 'color_free/a': LaunchConfiguration('color_free/a'), | ||
| 'publish_free_space': LaunchConfiguration('publish_free_space')}] | ||
| ) | ||
| ]) |