Commit 398c3fac authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Add rplidar

parent b70cdb65
......@@ -7,6 +7,7 @@
<arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)" doc="3d sensor types [kinect, asux_xtion_pro]"/>
<arg name="simulation" default="$(env TURTLEBOT_SIMULATION)" doc="set flags to indicate this turtle is run in simulation mode."/>
<arg name="serialport" default="$(env TURTLEBOT_SERIAL_PORT)" doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
<arg name="rplidar" default="true"/>
<param name="/use_sim_time" value="$(arg simulation)"/>
......@@ -23,6 +24,7 @@
<arg name="battery" value="$(arg battery)" />
<group unless="$(arg rplidar)">
<include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
<arg name="rgb_processing" value="false" />
<arg name="depth_registration" value="false" />
......@@ -32,6 +34,11 @@
Probably is a bug in the nodelet manager: -->
<arg name="scan_topic" value="/scan" />
<group if="$(arg rplidar)">
<include file="$(find iri_turtlebot_launch)/launch/rplidar.launch"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="static_rplidar_tf" args="0 0 0 3.14159 0 0 plate_middle_link laser"/>
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/rplidar"/>
<param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 -->
<!--param name="serial_baudrate" type="int" value="256000"--><!--A3 -->
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
......@@ -35,8 +35,8 @@ obstacle_layer:
topic: /scan
marking: true
clearing: true
min_obstacle_height: 0.25
max_obstacle_height: 0.35
min_obstacle_height: 0.05
max_obstacle_height: 0.5
data_type: PointCloud2
topic: /mobile_base/sensors/bumper_pointcloud
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