63 lines
2.9 KiB
Python
63 lines
2.9 KiB
Python
import os
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from pathlib import Path
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import launch_ros.actions
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import (DeclareLaunchArgument, GroupAction,
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IncludeLaunchDescription, SetEnvironmentVariable)
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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Lslidar_dir = get_package_share_directory('lslidar_driver')
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Lslidar_launch_dir = os.path.join(Lslidar_dir, 'launch')
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Ld14_dir = get_package_share_directory('ldlidar_sl_ros2')
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Ld14_launch_dir = os.path.join(Ld14_dir, 'launch')
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Ld06_dir = get_package_share_directory('ldlidar_stl_ros2')
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Ld06_launch_dir = os.path.join(Ld14_dir, 'launch')
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Lsm10_m10_uart = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_uart_launch.py')),)
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Lsm10_m10_net = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10_net_launch.py')),)
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Lsm10_m10p_uart = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_uart_launch.py')),)
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Lsm10_m10p_net = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsm10p_net_launch.py')),)
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Lsn10 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_launch.py')),)
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Lsn10p = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_launch.py')),)
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Lsn10_net = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10_net_launch.py')),)
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Lsn10p_net = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Lslidar_launch_dir, 'lsn10p_net_launch.py')),)
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Ld14 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Ld14_launch_dir, 'ld14.launch.py')),)
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Ld06 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(Ld06_launch_dir, 'ld06.launch.py')),)
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# Create the launch description and populate
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ld = LaunchDescription()
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'''
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Please select your lidar here, options include:
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Lsm10_m10p_uart、Lsm10_m10p_net、Lsm10_m10_uart、Lsm10_m10_net、Lsn10、Lsn10p,Lsn10_net、Lsn10p_net,ld14、Ld06.
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1.If you are using LS* lidar (including lsn10, lsm10*), please don't forget to
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modify the tf conversion parameters of robot_mode_description.launch.py
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according to the user guide file.
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2.If you are using m10 lidar, please pay attention to distinguish whether it is m10p or not.
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'''
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ld.add_action(Lsn10)
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return ld
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