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lidar.launch 2.80 KB
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Liu.fuzhi 提交于 2021-07-01 11:45 . fix NanoOmni TF data
<launch>
<!--robot bast type use different tf value-->
<arg name="base_type" default="$(env BASE_TYPE)" />
<!-- robot frame -->
<arg name="base_frame" default="/base_footprint" />
<arg name="lidar_type" default="$(env LIDAR_TYPE)" />
<arg name="lidar_frame" default="base_laser_link"/>
<include file="$(find robot_navigation)/launch/lidar/$(arg lidar_type).launch">
<arg name="lidar_frame" value="$(arg lidar_frame)"/>
</include>
<group if="$(eval base_type == 'NanoRobot')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="-0.01225 0.0 0.18 3.14159265 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == 'NanoRobot_Pro')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="-0.0515 0.0 0.18 -1.5708 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == '4WD')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="0.01 0.0 0.25 3.14159265 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == '4WD_OMNI')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="0.01 0.0 0.25 3.14159265 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == 'NanoCar')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="0.1037 0.0 0.115 3.14159265 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == 'NanoCar_Pro')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="0.1037 0.0 0.165 3.14159265 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == 'NanoCar_SE')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="0.0955 0.0 0.115 1.5708 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == 'Race182')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="0.1 0.0 0.192 3.14159265 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
<group if="$(eval base_type == 'NanoOmni')">
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_laser"
args="0.019 0.0 0.192 3.14159265 0.0 0.0 $(arg base_frame) $(arg lidar_frame) 20">
</node>
</group>
</launch>
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