learning_loam/loam_velodyne/launch/loam_velodyne_two.launch at master · yzrobot/learning_loam · GitHub

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<launch>
<arg name="rviz" default="true" />
<arg name="scanPeriod" default="0.1" />

<!-- rosbag play -->
<arg name="bag"/>
<param name="use_sim_time" value="true"/>
<node pkg="rosbag" type="play" name="rosbag_play" args="-r 5 --clock $(find loam_velodyne)/../ressources/two_velodynes.bag" required="true"/>


<!-- Velodyne HDL-32E: left -->
<group ns="hdl32e_left">
<node pkg="nodelet" type="nodelet" name="velodyne_left_nodelet_manager" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="cloud_nodelet" args="load velodyne_pointcloud/CloudNodelet velodyne_left_nodelet_manager" output="screen">
<param name="calibration" value="$(find velodyne_pointcloud)/params/32db.yaml"/>
<param name="min_range" value="0.4"/>
<param name="max_range" value="130.0"/>

</node>
</group>


<!-- Velodyne HDL-32E: right -->
<group ns="hdl32e_right">
<node pkg="nodelet" type="nodelet" name="velodyne_right_nodelet_manager" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="cloud_nodelet" args="load velodyne_pointcloud/CloudNodelet velodyne_right_nodelet_manager" output="screen">
<param name="calibration" value="$(find velodyne_pointcloud)/params/32db.yaml"/>
<param name="min_range" value="0.4"/>
<param name="max_range" value="130.0"/>

</node>
</group>


<!-- tf -->
<node pkg="tf" type="static_transform_publisher" name="velodyne_left" args="-0.5 1.4 1.5 0 0 0 1 base_link velodyne_left 100"/>
<node pkg="tf" type="static_transform_publisher" name="velodyne_right" args="0.5 1.4 1.5 0 0 0 1 base_link velodyne_right 100"/>

<group if="$(arg rviz)">
<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find loam_velodyne)/rviz_cfg/loam_velodyne_two.rviz" />
</group>

</launch>