ROS系列——如何在ros多机系统中使用多个Velodyne VLP16
说明
本文主要介绍ROS多机系统中如何使用多个VLP16,比如A上配备了一个VLP16,B上配备了一个VLP16。因为已经组成多机,所以简单运行自带的VLP可能出现问题。最终修改launch文件,已解决该问题。
修改launch文件
本文修改的是VLP16_points.launch,源文件内容如下:
<!-- -*- mode: XML -*- -->
<!-- run velodyne_pointcloud/TransformNodelet in a nodelet manager for a VLP-16 -->
<launch>
<!-- declare arguments with default values -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
<arg name="device_ip" default="192.168.8.201" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="port" default="2368" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600" />
<arg name="gps_time" default="false" />
<arg name="cut_angle" default="-0.01" />
<arg name="timestamp_first_packet" default="false" />
<arg name="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />
<arg name="organize_cloud" default="false" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
<arg name="gps_time" value="$(arg gps_time)"/>
<arg name="cut_angle" value="$(arg cut_angle)"/>
<arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
</include>
<!-- start transform nodelet -->
<include file="$(find velodyne_pointcloud)/launch/transform_nodelet.launch">
<arg name="model" value="VLP16"/>
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="fixed_frame" value="" />
<arg name="target_frame" value="" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
<arg name="organize_cloud" value="$(arg organize_cloud)"/>
</include>
<!-- start laserscan nodelet -->
<include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
<arg name="manager" value="$(arg manager)" />
<arg name="ring" value="$(arg laserscan_ring)"/>
<arg name="resolution" value="$(arg laserscan_resolution)"/>
</include>
</launch>
修改后
<launch>
<group ns="sensor_b"> <!--主要使用group实现该功能-->
<!-- declare arguments with default values -->
<arg name="calibration" default="$(find velodyne_pointcloud)/params/VLP16db.yaml"/>
<arg name="device_ip" default="192.168.8.201" />
<arg name="frame_id" default="velodyne" />
<arg name="manager" default="$(arg frame_id)_nodelet_manager" />
<arg name="max_range" default="130.0" />
<arg name="min_range" default="0.4" />
<arg name="pcap" default="" />
<arg name="port" default="2368" />
<arg name="read_fast" default="false" />
<arg name="read_once" default="false" />
<arg name="repeat_delay" default="0.0" />
<arg name="rpm" default="600" />
<arg name="gps_time" default="false" />
<arg name="cut_angle" default="-0.01" />
<arg name="timestamp_first_packet" default="false" />
<arg name="laserscan_ring" default="-1" />
<arg name="laserscan_resolution" default="0.007" />
<arg name="organize_cloud" default="false" />
<!-- start nodelet manager and driver nodelets -->
<include file="$(find velodyne_driver)/launch/nodelet_manager.launch">
<arg name="device_ip" value="$(arg device_ip)"/>
<arg name="frame_id" value="$(arg frame_id)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="model" value="VLP16"/>
<arg name="pcap" value="$(arg pcap)"/>
<arg name="port" value="$(arg port)"/>
<arg name="read_fast" value="$(arg read_fast)"/>
<arg name="read_once" value="$(arg read_once)"/>
<arg name="repeat_delay" value="$(arg repeat_delay)"/>
<arg name="rpm" value="$(arg rpm)"/>
<arg name="gps_time" value="$(arg gps_time)"/>
<arg name="cut_angle" value="$(arg cut_angle)"/>
<arg name="timestamp_first_packet" value="$(arg timestamp_first_packet)"/>
</include>
<!-- start transform nodelet -->
<include file="$(find velodyne_pointcloud)/launch/transform_nodelet.launch">
<arg name="model" value="VLP16"/>
<arg name="calibration" value="$(arg calibration)"/>
<arg name="manager" value="$(arg manager)" />
<arg name="fixed_frame" value="" />
<arg name="target_frame" value="" />
<arg name="max_range" value="$(arg max_range)"/>
<arg name="min_range" value="$(arg min_range)"/>
<arg name="organize_cloud" value="$(arg organize_cloud)"/>
</include>
<!-- start laserscan nodelet -->
<include file="$(find velodyne_pointcloud)/launch/laserscan_nodelet.launch">
<arg name="manager" value="$(arg manager)" />
<arg name="ring" value="$(arg laserscan_ring)"/>
<arg name="resolution" value="$(arg laserscan_resolution)"/>
</include>
</group>
</launch>
关键点
主要使用group实现该功能,可以将A的VLP16的launch文件放到
<group ns="sensor_a">......</group>
将B的VLP16的launch文件放到
<group ns="sensor_b">......</group>
即可实现A和B发布的topic不同。
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