sl-perception
76067d6d89
Adds saltybot_bringup ROS2 package with four launch files: - realsense.launch.py — D435i at 640x480x15fps, IMU unified topic - rplidar.launch.py — RPLIDAR A1M8 via /dev/rplidar udev symlink - sensors.launch.py — both sensors + static TF (base_link→laser/camera) - slam.launch.py — sensors + slam_toolbox online_async (compose entry point) Sensor config YAMLs (mounted at /config/ in container): - realsense_d435i.yaml — Nano power-budget settings (15fps, no pointcloud) - rplidar_a1m8.yaml — Standard scan mode, 115200 baud, laser frame - slam_toolbox_params.yaml — Nano-tuned (2Hz processing, 5cm resolution) Fixes docker-compose volume mount: ./ros2_ws/src:/ros2_ws/src (was ./ros2_ws:/ros2_ws/src — would have double-nested the src directory) Topic reference and verification commands in SENSORS.md. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
61 lines
1.9 KiB
Python
61 lines
1.9 KiB
Python
"""
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rplidar.launch.py — RPLIDAR A1M8 driver (standalone)
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Launches rplidar_ros with udev symlink (/dev/rplidar) set in 99-saltybot.rules.
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Falls back to /dev/ttyUSB0 if the symlink is not present.
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RPLIDAR A1M8 specs:
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- 360° omnidirectional scan
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- 8000 samples/s, ~5.5 Hz scan rate at 1440 points/scan
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- 12m range (reliable to ~8m indoors)
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- 115200 baud via CP2102 USB-UART adapter
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Published topics:
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/scan sensor_msgs/LaserScan ~5.5 Hz
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TF frame: laser → matches static_transform_publisher in sensors.launch.py
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frame_id = 'laser'
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Verify:
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ros2 topic hz /scan
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ros2 run tf2_ros tf2_echo base_link laser
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"""
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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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serial_port_arg = DeclareLaunchArgument(
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'serial_port',
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default_value='/dev/rplidar',
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description='RPLIDAR serial port (udev symlink preferred over /dev/ttyUSB0)',
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)
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rplidar_share = get_package_share_directory('rplidar_ros')
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rplidar_launch = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(rplidar_share, 'launch', 'rplidar_a1_launch.py')
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),
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launch_arguments={
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'serial_port': LaunchConfiguration('serial_port'),
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'serial_baudrate': '115200',
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# 'laser' matches the TF frame in sensors.launch.py and slam config
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'frame_id': 'laser',
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# Compensate for motor rotation angle offset
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'angle_compensate': 'true',
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# A1M8 only supports Standard scan mode
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'scan_mode': 'Standard',
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}.items(),
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)
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return LaunchDescription([
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serial_port_arg,
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rplidar_launch,
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])
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