From 8083138668cd05138317f6c2e37f39d2232f1e1c Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 6 Feb 2020 11:38:10 +0100
Subject: [PATCH] =?UTF-8?q?Added=20a=20l=C3=B1aunch=20file=20for=20the=20n?=
=?UTF-8?q?odelet=20version.=20Improved=20the=20launch=20file=20of=20the?=
=?UTF-8?q?=20node.?=
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---
launch/node.launch | 8 +++++---
launch/nodelet.launch | 26 ++++++++++++++++++++++++++
2 files changed, 31 insertions(+), 3 deletions(-)
create mode 100644 launch/nodelet.launch
diff --git a/launch/node.launch b/launch/node.launch
index 43f86f7..b65000d 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -2,19 +2,21 @@
<launch>
<arg name="ns" default="ana"/>
+ <arg name="node_name" default="lidar_obstacle_detector"/>
+ <arg name="config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
- <arg name="cloud_in" default=""/>
+ <arg name="cloud_in" default="~pointcloud_in"/>
<group ns="$(arg ns)">
<node pkg ="iri_lidar_obstacle_detector"
type="iri_lidar_obstacle_detector"
- name="lidar_obstacle_detector"
+ name="$(arg node_name)"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="~pointcloud_in" to="$(arg cloud_in)"/>
- <param name="base_frame_id" value="/ana/base_footprint"/>
+ <rosparam file="$(arg config_file)" command="load"/>
</node>
</group>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
new file mode 100644
index 0000000..4c0a5e6
--- /dev/null
+++ b/launch/nodelet.launch
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="ana"/>
+ <arg name="node_name" default="lidar_obstacle_detector"/>
+ <arg name="lidar_nodelet_manager" default="lidar_nodelet_manager"/>
+ <arg name="config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="cloud_in" default="~pointcloud_in"/>
+
+ <group ns="$(arg ns)">
+
+ <node name="$(arg node_name)"
+ pkg="nodelet"
+ type="nodelet"
+ args="load iri_lidar_obstacle_detector/LidarObstacleDetectorAlgNodelet $(arg lidar_nodelet_manager)"
+ output="screen">
+ <remap from="~pointcloud_in" to="$(arg cloud_in)"/>
+ <rosparam file="$(arg config_file)" command="load"/>
+ </node>
+
+ </group>
+
+</launch>
+
--
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