/
lego_loam_utbm.launch
35 lines (28 loc) · 1.66 KB
/
lego_loam_utbm.launch
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<launch>
<!--- Sim Time -->
<param name="/use_sim_time" value="true" />
<!--- rosbag play -->
<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 1 $(arg bag)" required="true">
<remap from="/imu/data" to="/imu_not_use"/>
<remap from="/tf" to="/tf_not_use"/>
</node>
<!--- Velodyne_packets to velodyne_points -->
<node pkg="velodyne_pointcloud" type="cloud_node" name="cloud_node">
<remap from="/velodyne_packets" to="/hdl32e_left/velodyne_packets"/>
<param name="calibration" value="$(find velodyne_pointcloud)/params/32db.yaml"/>
<param name="min_range" value="0.4"/>
<param name="max_range" value="130.0"/>
<param name="view_direction" value="3.1415926"/>
<param name="view_width" value="5.4769"/>
</node>
<!--- Run Rviz-->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find lego_loam)/launch/lego_loam_utbm.rviz" />
<!--- TF -->
<node pkg="tf" type="static_transform_publisher" name="camera_init_to_map" args="0 0 0 1.570795 0 1.570795 /map /camera_init 10" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0 /camera /base_link 10" />
<!--- LeGO-LOAM -->
<node pkg="lego_loam" type="imageProjection" name="imageProjection" output="screen"/>
<node pkg="lego_loam" type="featureAssociation" name="featureAssociation" output="screen"/>
<node pkg="lego_loam" type="mapOptmization" name="mapOptmization" output="screen"/>
<node pkg="lego_loam" type="transformFusion" name="transformFusion" output="screen"/>
</launch>