switch from xtion 3d camera to rplidar
[ros_wild_thumper.git] / launch / wild_thumper.launch
index a1abfaf..834a588 100644 (file)
 
        <node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
        <node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
+
+       <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
+               <param name="serial_port"         type="string" value="/dev/rplidar"/>
+               <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
+               <param name="frame_id"            type="string" value="lidar"/>
+               <param name="angle_compensate"    type="bool"   value="true"/>
+               <param name="scan_mode"           type="string" value="Standard"/>
+               <!--
+               A2 scan_modes:
+               Standard: max_distance: 16.0 m, Point number: 2.0K
+               Express: max_distance: 16.0 m, Point number: 4.0K
+                -->
+       </node>
 </launch>