|
|
@@ -8,7 +8,23 @@ Check IP-address, if you scanner is not found after roslaunch.
|
|
|
-->
|
|
|
|
|
|
<launch>
|
|
|
- <node name="wj_716_lidar_01" pkg="wj_716_lidar" type="wj_716_lidar" respawn="false" output="screen">
|
|
|
+ <node name="wj_716_lidar_03" pkg="wj_716_lidar" type="wj_716_lidar" respawn="false" output="screen">
|
|
|
+ <param name="hostname" type="string" value="192.168.2.203" />
|
|
|
+ <param name="port" type="string" value="2110" />
|
|
|
+ <!-- -135° -->
|
|
|
+ <param name="min_ang" type="double" value="-2.35619449" />
|
|
|
+ <!-- 135° -->
|
|
|
+ <param name="max_ang" type="double" value="2.35619449" />
|
|
|
+ <param name="angle_increment" type="double" value="0.00582" />
|
|
|
+ <param name="frame_id" type="str" value="map" />
|
|
|
+ <param name="time_increment" type="double" value="0.00006167129" />
|
|
|
+ <param name="range_min" type="double" value="0.05" />
|
|
|
+ <param name="range_max" type="double" value="30.0" />
|
|
|
+ <param name="resize" type="int" value="811" />
|
|
|
+ <remap from="/scan" to="/scan3" />
|
|
|
+ </node>
|
|
|
+
|
|
|
+ <node name="wj_716_lidar_04" pkg="wj_716_lidar" type="wj_716_lidar" respawn="false" output="screen">
|
|
|
<param name="hostname" type="string" value="192.168.2.204" />
|
|
|
<param name="port" type="string" value="2110" />
|
|
|
<!-- -135° -->
|
|
|
@@ -16,13 +32,30 @@ Check IP-address, if you scanner is not found after roslaunch.
|
|
|
<!-- 135° -->
|
|
|
<param name="max_ang" type="double" value="2.35619449" />
|
|
|
<param name="angle_increment" type="double" value="0.00582" />
|
|
|
- <param name="frame_id" type="str" value="laser" />
|
|
|
+ <param name="frame_id" type="str" value="map" />
|
|
|
<param name="time_increment" type="double" value="0.00006167129" />
|
|
|
<param name="range_min" type="double" value="0.05" />
|
|
|
<param name="range_max" type="double" value="30.0" />
|
|
|
<param name="resize" type="int" value="811" />
|
|
|
+ <remap from="/scan" to="/scan4" />
|
|
|
+ </node>
|
|
|
|
|
|
+ <node name="wj_716_lidar_05" pkg="wj_716_lidar" type="wj_716_lidar" respawn="false" output="screen">
|
|
|
+ <param name="hostname" type="string" value="192.168.2.205" />
|
|
|
+ <param name="port" type="string" value="2110" />
|
|
|
+ <!-- -135° -->
|
|
|
+ <param name="min_ang" type="double" value="-2.35619449" />
|
|
|
+ <!-- 135° -->
|
|
|
+ <param name="max_ang" type="double" value="2.35619449" />
|
|
|
+ <param name="angle_increment" type="double" value="0.00582" />
|
|
|
+ <param name="frame_id" type="str" value="map" />
|
|
|
+ <param name="time_increment" type="double" value="0.00006167129" />
|
|
|
+ <param name="range_min" type="double" value="0.05" />
|
|
|
+ <param name="range_max" type="double" value="30.0" />
|
|
|
+ <param name="resize" type="int" value="811" />
|
|
|
+ <remap from="/scan" to="/scan5" />
|
|
|
</node>
|
|
|
+
|
|
|
</launch>
|
|
|
|
|
|
<!--
|
