修了一下障碍物相关

src/origincar_base/launch/wall_localization.launch.py

@@ -0,0 +1,33 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    scan_topic = LaunchConfiguration('scan_topic')
+    combined_odom_topic = LaunchConfiguration('combined_odom_topic')
+    wall_config = LaunchConfiguration('wall_config')
+    port = LaunchConfiguration('port')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('scan_topic', default_value='/scan'),
+        DeclareLaunchArgument('combined_odom_topic', default_value='/odom_combined'),
+        DeclareLaunchArgument(
+            'wall_config',
+            default_value='/home/sunrise/yiliao_ws/src/origincar_base/config/wall_fit.json'),
+        DeclareLaunchArgument('port', default_value='8772'),
+
+        Node(
+            package='origincar_base',
+            executable='wall_preview_server',
+            name='wall_preview_server',
+            output='screen',
+            parameters=[{
+                'scan_topic': scan_topic,
+                'combined_odom_topic': combined_odom_topic,
+                'config_path': wall_config,
+                'port': port,
+            }],
+        ),
+    ])