mt-lifan
97686cc034
2.Add data recording compatible with MindCloud; 3. fix compatibility issue on orin nx 22.04
27 lines
1.1 KiB
XML
27 lines
1.1 KiB
XML
<launch>
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<!--
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Usage: roslaunch odin_ros_driver odin1_ros1.launch
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-->
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<!-- Set node name -->
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<arg name="node_name" default="host_sdk_sample"/>
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<!-- Set parameter file path -->
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<arg name="config_file" default="$(find odin_ros_driver)/config/control_command.yaml"/>
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<!-- Set RViz configuration file path -->
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<arg name="rviz_config" default="$(find odin_ros_driver)/config/odin_ros.rviz"/>
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<!-- Launch main node -->
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<node name="$(arg node_name)" pkg="odin_ros_driver" type="host_sdk_sample" output="screen">
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<param name="config_file" value="$(arg config_file)"/>
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</node>
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<node pkg="odin_ros_driver" type="pcd2depth_node" name="pcd2depth_node" output="screen" >
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<rosparam command="load" file="$(find odin_ros_driver)/config/control_command.yaml"/>
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<param name="calib_file_path" value="$(find odin_ros_driver)/config/calib.yaml"/>
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</node>
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<!-- Launch RViz with configuration -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)" output="screen"/>
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</launch> |