69 lines
2.2 KiB
Python
69 lines
2.2 KiB
Python
from launch import LaunchDescription
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from launch.actions import GroupAction, DeclareLaunchArgument
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Declare the RViz argument
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rviz_arg = DeclareLaunchArgument(
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'rviz', default_value='true',
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description='Flag to launch RViz.')
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# Node parameters, including those from the YAML configuration file
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laser_mapping_params = [
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PathJoinSubstitution([
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FindPackageShare('point_lio'),
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'config', 'horizon.yaml'
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]),
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{
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'use_imu_as_input': False, # Change to True to use IMU as input of Point-LIO
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'prop_at_freq_of_imu': True,
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'check_satu': True,
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'init_map_size': 10,
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'point_filter_num': 3, # Options: 1, 3
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'space_down_sample': True,
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'filter_size_surf': 0.5, # Options: 0.5, 0.3, 0.2, 0.15, 0.1
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'filter_size_map': 0.5, # Options: 0.5, 0.3, 0.15, 0.1
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'cube_side_length': 1000.0, # Option: 1000
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'runtime_pos_log_enable': False, # Option: True
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}
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]
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# Node definition for laserMapping with Point-LIO
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laser_mapping_node = Node(
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package='point_lio',
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executable='pointlio_mapping',
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name='laserMapping',
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output='screen',
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parameters=laser_mapping_params,
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# prefix='gdb -ex run --args'
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)
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# Conditional RViz node launch
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz',
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arguments=['-d', PathJoinSubstitution([
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FindPackageShare('point_lio'),
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'rviz_cfg', 'loam_livox.rviz'
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])],
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condition=IfCondition(LaunchConfiguration('rviz')),
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prefix='nice'
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)
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# Assemble the launch description
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ld = LaunchDescription([
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rviz_arg,
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laser_mapping_node,
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GroupAction(
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actions=[rviz_node],
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condition=IfCondition(LaunchConfiguration('rviz'))
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),
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])
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return ld
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