tier4_sensing_launch#

Structure#

tier4_sensing_launch

Package Dependencies#

Please see <exec_depend> in package.xml.

Usage#

You can include as follows in *.launch.xml to use sensing.launch.xml.

  <include file="$(find-pkg-share tier4_sensing_launch)/launch/sensing.launch.xml">
    <arg name="launch_driver" value="true"/>
    <arg name="sensor_model" value="$(var sensor_model)"/>
    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
    <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
  </include>

Launch Directory Structure#

This package finds sensor settings of specified sensor model in launch.

launch/
├── aip_x1 # Sensor model name
│   ├── camera.launch.xml # Camera
│   ├── gnss.launch.xml # GNSS
│   ├── imu.launch.xml # IMU
│   ├── lidar.launch.xml # LiDAR
│   └── pointcloud_preprocessor.launch.py # for preprocessing pointcloud
...

Notes#

This package finds settings with variables.

ex.)

<include file="$(find-pkg-share tier4_sensing_launch)/launch/$(var sensor_model)/lidar.launch.xml">