modelec/modelec-marcel-ROS
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launch file for rplidar

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This commit is contained in:
acki
2025-05-29 07:38:43 -04:00
parent 24c110f554
commit cda1ffdc77
1 changed files with 8 additions and 12 deletions
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20
src/modelec_core/launch/modelec.launch.py
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@@ -34,19 +34,15 @@ def generate_launch_description():
if context.launch_configurations.get('with_rplidar') == 'true':
rplidar_node = Node(
package='rplidar_ros',
executable='rplidarNode',
executable='rplidar_node',
name='rplidar_node',
parameters=[{
'channel_type': channel_type,
'serial_port': serial_port,
'serial_baudrate': serial_baudrate,
'frame_id': frame_id,
'inverted': inverted,
'angle_compensate': angle_compensate,
'scan_mode': scan_mode
}],
output='screen'
)
parameters=[{'channel_type':channel_type,
'serial_port': serial_port,
'serial_baudrate': serial_baudrate,
'frame_id': frame_id,
'inverted': inverted,
'angle_compensate': angle_compensate}],
output='screen'),
restart_handler = RegisterEventHandler(
OnProcessExit(
target_action=rplidar_node,