Created
January 30, 2020 13:17
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ROS .launch-file to record bag with pointcloud from Velodyne LiDAR with SLAM using ZED-camera
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| <?xml version="1.0"?> | |
| <launch> | |
| <arg name="is_record_odom" default="true"/> | |
| <arg name="is_record_velodyne" default="true"/> | |
| <arg name="bags_directory" value="/home/nvidia/bags"/> | |
| <!-- ZED-camera SLAM --> | |
| <include file="$(find zed_wrapper)/launch/zed.launch" if="$(eval is_record_odom)"/> | |
| <!-- LiDAR --> | |
| <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch" if="$(eval is_record_velodyne)"/> | |
| <!-- Move LiDAR to the ZED frame. Insert your values--> | |
| <node pkg="tf" type="static_transform_publisher" | |
| name="lidar_to_zed" | |
| args="0 0 0 -1.57 0 0 zed_camera_center velodyne 10" | |
| if="$(eval is_record_velodyne)"/> | |
| <!-- Record bag --> | |
| <node name="bag_record" pkg="rosbag" type="record" | |
| args="record -o $(arg bags_directory)/bag /rosout /tf /zed/odom /zed/pose /zed/path_map /velodyne_points" | |
| if="$(eval is_record_velodyne or is_record_odom)"/> | |
| </launch> |
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