mt-lifan
4dcf0e0a97
2.update sdk for ntp functions
3.add set camera FPS function in yaml(10FPS,14.5FPS)
4.release ros driver 0.9.0
5.Add time alignment mode for odin1 device synchronization with host
6.Add new time alignment option (use_host_ros_time=2) to align odin1 sensor timestamps to host time axis using PTP sync data
7.Implement PTP smoothing with 30-sample moving average window for delay and offset calculations
8.Refactor timestamp handling with make_aligned_stamp() helper function to centralize time conversion logic across all data types (IMU, point clouds, images, odometry)
9.Add LIDAR_DT_NTP data type for receiving
10.add imu data record
11.add cloud reprojection demo
87 lines
3.0 KiB
Python
87 lines
3.0 KiB
Python
|
|
# USAGE: ros2 launch odin_ros_driver odin1_ros2.launch.py
|
|
import os
|
|
import yaml
|
|
from ament_index_python.packages import get_package_share_directory
|
|
from launch import LaunchDescription
|
|
from launch.actions import DeclareLaunchArgument
|
|
from launch.substitutions import LaunchConfiguration
|
|
from launch_ros.actions import Node
|
|
|
|
def generate_launch_description():
|
|
# Get package directory
|
|
package_dir = get_package_share_directory('odin_ros_driver')
|
|
|
|
# Declare configuration parameter
|
|
config_file_arg = DeclareLaunchArgument(
|
|
'config_file',
|
|
default_value=os.path.join(package_dir, 'config', 'control_command.yaml'),
|
|
description='Path to the control config YAML file'
|
|
)
|
|
|
|
# Add RViz2 configuration file parameter
|
|
rviz_config_arg = DeclareLaunchArgument(
|
|
'rviz_config',
|
|
default_value=os.path.join(package_dir, 'config', 'odin_ros2.rviz'),
|
|
description='Path to RViz2 config file'
|
|
)
|
|
|
|
# Create main node
|
|
host_sdk_node = Node(
|
|
package='odin_ros_driver',
|
|
executable='host_sdk_sample',
|
|
name='host_sdk_sample',
|
|
output='screen',
|
|
# arguments=['--ros-args', '--log-level', 'debug'],
|
|
parameters=[{
|
|
'config_file': LaunchConfiguration('config_file')
|
|
}]
|
|
)
|
|
|
|
pcd2depth_config_path = os.path.join(package_dir, 'config', 'control_command.yaml')
|
|
with open(pcd2depth_config_path, 'r') as f:
|
|
pcd2depth_params = yaml.safe_load(f)
|
|
pcd2depth_calib_path = os.path.join(package_dir, 'config', 'calib.yaml')
|
|
pcd2depth_params['calib_file_path'] = pcd2depth_calib_path
|
|
pcd2depth_node = Node(
|
|
package='odin_ros_driver',
|
|
executable='pcd2depth_ros2_node',
|
|
name='pcd2depth_ros2_node',
|
|
output='screen',
|
|
parameters=[pcd2depth_params]
|
|
)
|
|
|
|
# Cloud reprojection node
|
|
reprojection_config_path = os.path.join(package_dir, 'config', 'control_command.yaml')
|
|
with open(reprojection_config_path, 'r') as f:
|
|
reprojection_params = yaml.safe_load(f)
|
|
reprojection_calib_path = os.path.join(package_dir, 'config', 'calib.yaml')
|
|
reprojection_params['calib_file_path'] = reprojection_calib_path
|
|
cloud_reprojection_node = Node(
|
|
package='odin_ros_driver',
|
|
executable='cloud_reprojection_ros2_node',
|
|
name='cloud_reprojection_ros2_node',
|
|
output='screen',
|
|
parameters=[reprojection_params]
|
|
)
|
|
|
|
# Create RViz2 node - loads specified configuration file
|
|
rviz_node = Node(
|
|
package='rviz2',
|
|
executable='rviz2',
|
|
name='rviz2',
|
|
output='screen',
|
|
arguments=['-d', LaunchConfiguration('rviz_config')]
|
|
)
|
|
|
|
# Create launch description
|
|
ld = LaunchDescription()
|
|
ld.add_action(config_file_arg)
|
|
ld.add_action(rviz_config_arg) # Add RViz configuration argument
|
|
ld.add_action(host_sdk_node)
|
|
ld.add_action(pcd2depth_node)
|
|
ld.add_action(cloud_reprojection_node)
|
|
ld.add_action(rviz_node) # Add RViz node
|
|
|
|
return ld
|