add：添加了实车模式，未验证

2026-06-06 20:32:07 +08:00
parent 30a9b2bd2d
commit b44f0c1909
71 changed files with 6113 additions and 5 deletions
--- a/src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py
+++ b/src/LSLIDAR_X_ROS2-20240228/wheeltec_lidar.launch.py
@@ -0,0 +1,62 @@
+import os
+from pathlib import Path
+import launch_ros.actions
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, GroupAction,
+                            IncludeLaunchDescription, SetEnvironmentVariable)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    Lslidar_dir = get_package_share_directory('lslidar_driver')
+    Lslidar_launch_dir = os.path.join(Lslidar_dir, 'launch')
+
+       
+    Ld14_dir = get_package_share_directory('ldlidar_sl_ros2')
+    Ld14_launch_dir = os.path.join(Ld14_dir, 'launch')
+    
+    Ld06_dir = get_package_share_directory('ldlidar_stl_ros2')
+    Ld06_launch_dir = os.path.join(Ld14_dir, 'launch')
+           
+
+    Lsm10_m10_uart = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_uart_launch.py')),)
+            
+    Lsm10_m10_net = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_net_launch.py')),)
+            
+    Lsm10_m10p_uart = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_uart_launch.py')),)
+            
+    Lsm10_m10p_net = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_net_launch.py')),)
+             
+    Lsn10 = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_launch.py')),)
+    Lsn10p = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_launch.py')),)     
+
+    Lsn10_net = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_net_launch.py')),)
+    Lsn10p_net = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_net_launch.py')),) 
+                   
+    Ld14 = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Ld14_launch_dir, 'ld14.launch.py')),)
+    Ld06 = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(Ld06_launch_dir, 'ld06.launch.py')),)
+                  
+    # Create the launch description and populate
+    ld = LaunchDescription()
+    '''
+    Please select your lidar here, options include:
+    Lsm10_m10p_uart、Lsm10_m10p_net、Lsm10_m10_uart、Lsm10_m10_net、Lsn10、Lsn10p,Lsn10_net、Lsn10p_net,ld14、Ld06.
+    1.If you are using LS* lidar (including lsn10, lsm10*), please don't forget to 
+    modify the tf conversion parameters of robot_mode_description.launch.py
+    according to the user guide file.
+    2.If you are using m10 lidar, please pay attention to distinguish whether it is m10p or not.
+    '''
+    ld.add_action(Lsn10)
+
+    return ld
+