Add lidar launch

Co-authored-by: 0nhc <thefoxfoxfox@outlook.com>

README.md

@@ -133,7 +133,7 @@ Open 2 terminals and ssh login to Mini Pupper on both.
 ```sh
 # Terminal 1 (ssh)
 . ~/ros2_ws/install/setup.bash # setup.zsh if you use zsh instead of bash
-ros2 launch mini_pupper_bringup bringup.launch.py
+ros2 launch mini_pupper_bringup bringup.launch.py lidar:=false
 
 # Terminal 2 (ssh)
 ros2 run teleop_twist_keyboard teleop_twist_keyboard

mini_pupper_bringup/launch/bringup.launch.py

@@ -26,7 +26,7 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
@@ -57,10 +57,14 @@ def generate_launch_description():
  servo_interface_launch_path = PathJoinSubstitution(
  [FindPackageShare('mini_pupper_control'), 'launch', 'servo_interface.launch.py']
  )
+ lidar_launch_path = PathJoinSubstitution(
+ [FindPackageShare('mini_pupper_bringup'), 'launch', 'lidar.launch.py']
+ )
 
  robot_name = LaunchConfiguration("robot_name")
  sim = LaunchConfiguration("sim")
  joint_hardware_connected = LaunchConfiguration("joint_hardware_connected")
+ lidar_connected = LaunchConfiguration("lidar_connected")
  rviz = LaunchConfiguration("rviz")
 
  declare_robot_name = DeclareLaunchArgument(
@@ -87,6 +91,12 @@ def generate_launch_description():
  description='Set to true if connected to a physical robot'
  )
 
+ declare_lidar_connected = DeclareLaunchArgument(
+ name='lidar_connected',
+ default_value='true',
+ description='Set to true if connected to a lidar'
+ )
+
  rviz2_node = Node(
  package="rviz2",
  namespace="",
@@ -114,10 +124,19 @@ def generate_launch_description():
  }.items(),
  )
 
- servo_interface_launch = (
- IncludeLaunchDescription(
- PythonLaunchDescriptionSource(servo_interface_launch_path),
- condition=IfCondition(joint_hardware_connected),
+ servo_interface_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(servo_interface_launch_path),
+ condition=IfCondition(joint_hardware_connected),
+ )
+
+ lidar_launch = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource(lidar_launch_path),
+ condition=IfCondition(
+ PythonExpression([
+ joint_hardware_connected,
+ " and ",
+ lidar_connected
+ ])
  ),
  )
 
@@ -126,7 +145,9 @@ def generate_launch_description():
  declare_sim,
  declare_rviz,
  declare_hardware_connected,
+ declare_lidar_connected,
  rviz2_node,
  bringup_launch,
- servo_interface_launch
+ servo_interface_launch,
+ lidar_launch,
  ])

mini_pupper_bringup/launch/lidar.launch.py

@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+
+# SPDX-License-Identifier: Apache-2.0
+#
+# Copyright (c) 2022-2023 MangDang
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='ldlidar_stl_ros2',
+ executable='ldlidar_stl_ros2_node',
+ name='LD06',
+ output='screen',
+ parameters=[
+ {'product_name': 'LDLiDAR_LD06'},
+ {'topic_name': 'scan'},
+ {'frame_id': 'base_lidar'},
+ {'port_name': '/dev/ttyUSB0'},
+ {'port_baudrate': 230400},
+ {'laser_scan_dir': True},
+ {'enable_angle_crop_func': False},
+ {'angle_crop_min': 135.0},
+ {'angle_crop_max': 225.0}],
+ ),
+ ])