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Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_launch.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags ros ros2 autoware
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The common_sensor_launch package

Additional Links

No additional links.

Maintainers

  • Ryohsuke Mitsudome
  • Yukihiro Saito

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package common_sensor_launch

0.41.0 (2025-02-12)

  • fix: add [udp_only]{.title-ref} (#109) Added udp_only
  • feat(common_sensor_launch): rename velodyne_monitor to autoware_velodyne_monitor (#119)
  • Contributors: Ryohsuke Mitsudome, SakodaShintaro

0.40.0 (2025-01-17)

  • Merge branch 'main' into release-0.40.0
  • fix(nebula_node_container.launch.py): autoware_glog_component (#112) Fixed autoware_glog_component
  • refactor(glog_component): prefix package and namespace with autoware (#110)
  • Contributors: Esteve Fernandez, Ryohsuke Mitsudome, SakodaShintaro

0.39.0 (2024-12-09)

  • chore(common_sensor_launch): add distortion corrector parameter (#105) chore: add parameter
  • chore(nebula_node_container): make launchers work with Nebula v0.2.0 (#106)
  • feat(common_sensor_launch): ring outlier filter load from param file (#103)
    • feat: ring outlier filter load from param file
    • fix: fix variable name

    * chore: fix description ---------

  • feat: add robosense Bpearl and Helios Lidar launch files for users (#102)
  • refactor!: pointcloud_preprocessor prefix package and namespace with autoware (#95)
    • refactor!: pointcloud_preprocessor prefix package and namespace with autoware

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • chore: remapped topics for the point type migration (#94) chore: remapped topics to match the temporary fix for the sensing point migration
  • feat(pointcloud_preprocessor): load_distortion_parameter_from_yaml (#93)
    • feat: load distortion parameter from yaml
    • chore: fix spell error
    • feat: modify the nebula_node_container based on tier4 internal common_sensor_launch

    * chore: use ParameterFile to load param ---------

  • fix(nebula node container): fix if condition for ring outlier filter (#92) fix nebula node container
  • feat(common_sensor_launch, pointcloud_preprocessor): change pointcloud interface to synchronized pointclouds (#91)
    • feat: edn
    • fix: suppress spell-check
    • style(pre-commit): autofix

    * feat: interface change in sensing lidar pointcloud. use synchronized pointcloud as sensor interface ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat: change pointcloud preprocess output from base_link to sensor_frame (#90)
    • feat: edn
    • fix: suppress spell-check

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • chore(nebula_node_container): enhance logging (#86)
  • feat: always separate lidar preprocessing from pointcloud_container (#85)
    • feat!: replace use_pointcloud_container
    • style(pre-commit): autofix
    • fix: now works
    • revert: revert unnecessary change
    • include_concat_node_in_pointcloud_container to use_pointcloud_container
    • style(pre-commit): autofix

    * fix arg name ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • refactor: rename lidar topic (#82) rename lidar topic Co-authored-by: yamato-ando <Yamato ANDO>
  • fix(nebula launch): remove loading of parameters from default config file (#74)
    • fix(nebula launch): remove loading of parameters from default configuration file
    • chore(nebula launch): remove orphaned directory variable

    * chore(nebula launch): remove unused import ---------

  • refactor(nebula launch): consistent naming for sensor_ip parameter (#72)
  • fix(nebula launch): rotation_speed type (#71) fix rotation_speed type
  • fix(common_sensor_launch): add nebula to package.xml (#65)
  • feat: change from velodyne_vls to nebula driver (#64)
    • feat: change from velodyne_vls to nebula driver

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • chore: update maintainer (#60)
  • feat(sample_sensor_kit_launch): pass container to velodyne nodes (#48)
    • feat(sample_sensor_kit_launch): pass container to velodyne nodes
    • feat(sample_sensor_kit_launch): align true/false
  • feat(common_sensor_launch): change interpolate to distortion_corrector (#41)
    • feat(common_sensor_launch): change interpolate to distortion_corrector
    • Fix input topic
  • feat: load global parameter (#31)
  • ci(pre-commit): update pre-commit-hooks-ros (#16)
    • ci(pre-commit): update pre-commit-hooks-ros
    • ci(pre-commit): autofix
    • Update .pre-commit-config.yaml

    * Update .pre-commit-config.yaml Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • chore: clean up files (#6)
  • feat: add packages (#3)
    • release v0.4.0
    • Feature/phased timestamped velodyne (#53)
    • Replace with new velodyne driver, cutting scan based on azimuth
    • Fix launch/dependences
    • Fix version name for tier4/velodyne_vls
    • Add velodyne_driver dependency
    • Nodelet tlr (#56)
    • temporary commit tlr_nodelet
    • compressed to compressed
    • Update traffic_light.launch
    • fix bug
    • change image_transport to relay
    • fix bug
    • fix bug
    • decompress as rgb8

    * fix bug Co-authored-by: Yukihiro Saito <<yukky.saito@gmail.com>>

    • use env for livox id (#58)
    • Feature/optimize scan phase (#59)
    • Rename parameter name, sensor_phase -> scan_phase
    • Modify aip_xx1 scan_phase for better perception
    • Rename parameter name, sensor_phase -> scan_phase
    • Logging simulator (#65)
    • Add logging_simulator.launch
    • Don't load env when launch driver is false
    • removed ROS1 package

    * Revert "removed ROS1 package" This reverts commit 3122355145ddfc9cb7e7485e85d509d53f6836f0.

    • add COLCON_IGNORE file to all ROS1 packages
    • rename .launch files to.launch.xml
    • Port sensing_launch (#14)
    • [sensing_launch] Initial port without actually launching
    • [sensing_launch] default -> value, namespace, first nodelet porting
    • [sensing_launch] use usb_cam, eval -> var
    • [sensing_launch] Fix syntax errors in pointcloud_preprocessor.launch.py
    • [pointcloud-preprocessor] fix ground-filter component name

    * [pointcloud-preprocessor] Polish aip_s1/pointcloud_preprocessor.launch.py Only one error at runtime remains when testing on dev laptop due to pointclouds that need to be available for concatenation

    • [sensing_launch] ublox_gps refer to config file properly
    • (wip) velodyne_node_container before opaque
    • [sensing_launch] Port aip-s1 as far as possible
    • [sensing_launch] remove unused pointcloud_preprocessor_nodes.py
    • [sensing_launch] Manage to add ComposableNode conditionally
    • [sensing_launch] Update camera for s1, x1

    * [sensing_launch] Copy aip_s1/ content to aip_customized, aip_x1, aip_x2 because they were identical before the porting

    • [sensing_launch] Port livox
    • [sensing_launch] Port aip_xx1
    • [sensing_launch] Port aip_xx2
    • [sensing_launch] Remove superfluous passthrough filter, min_z, max_z
    • [sensing_launch] Incorporate changes from vehicle testing
    • [sensing_launch] Declare launch argument for base_frame
    • [sensing_launch] Missing fixes to launch/velodyne*
    • [sensing_launch] Update copied configs
    • Added linters (#32)
    • Ros2 v0.8.0 sensing launch (#57)
    • restore file name
    • Update livox_horizon.launch (#89)
    • fix pass through filter launch (#90)
    • fix pass through filter launch
    • change if statement style
    • update aip_x1 sensing launch (#100)
    • fix livox launch arg (#108)
    • add usb_cam depend (#118)
    • update aip_x1 camera.launch (#119)
    • update imu.launch (#120)
    • fix veodyne setting in aip_x1/lidar.launch (#125)
    • Add velodyne_monitor to velodyne_*.launch (#101)
    • Uupdate aip_x1 lidar.launch (#143)
    • Format gnss.launch (#145)
    • Add use_gnss arg to aip_x1 gnss.launch (#146)
    • support individual params (#137)
    • support individual params
    • remove kvaser_hardware_id.txt
    • Launch velodyne_monitor only when launch_driver is true (#163)
    • [sensing_launch] ros2 porting: use container for livox point preprocessor
    • [sensing_launch] ros2-porting: fix vehicle_info params

    * Revert "restore file name" This reverts commit 37d7ac4f6a2a617b003b4e2a5ac96c48b332ade0.

    • [sensing_launch] ros2-porting: fix vehicle_info for livox preprocessor launch
    • [sensing_launch] ros2-porting: fix vehicle_info for api_** points_preprocessor.launch.py
    • fix launch
    • fix livox launch
    • added suffix ".xml" to "velodyne_monitor.launch" in the launch files
    • added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in the *.launch.py (#61)
    • added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters
    • changed to use EnvironmentVariable function for use_sim_time parameter
    • changed indent

    * removed an empty line Co-authored-by: hosokawa <<hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>> * fixed typo on the arg bd_code_param_path lines (#63) Co-authored-by: hosokawa <<hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>>

    • [sensing_launch]: Fix indentation in gnss launch
    • [sensing_launch]: Add missing dependency in package.xml
    • [sensing_launch]: Fix velodyne launch
    • [sensing_launch]: Fix livox launch
    • [sensing_launch]: Add arg for vehicle parameter file in lidar launch
    • [sensing_launch]: Cleanup
    • Add new line
    • [sensing_launch]: Add default config for xx1

    * [sensing_launch]: Fix indentation Co-authored-by: Yukihiro Saito <<yukky.saito@gmail.com>> Co-authored-by: Taichi Higashide <<taichi.higashide@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: hiroyuki obinata <<58019445+obi-t4@users.noreply.github.com>> Co-authored-by: hosokawa <<hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>> Co-authored-by: HOSOKAWA Ikuto <<hosokawa.ikuto@gmail.com>> Co-authored-by: wep21 <<border_goldenmarket@yahoo.co.jp>> Co-authored-by: Autoware <<autoware@tier4.jp>>

    • Rename ROS-related .yaml to .param.yaml (#65)
    • Rename ROS-related .yaml to .param.yaml
    • Add missing '--'
    • Rename vehicle_info.yaml to vehicle_info.param.yaml
    • Fix livox param name
    • Sync with Ros2 v0.8.0 beta (#71)
    • update sensing launch to support aip_x1 (#69)
    • fix logging_simulator_bug (#68)

    * fix aip_x1 param (#70) Co-authored-by: Taichi Higashide <<taichi.higashide@tier4.jp>>

    • Fix aip_xx1's pointcloud_preprocessor.launch.py (#72)
    • fix velodyne launch (#73)
    • fix velodyne launch
    • fix bug
    • add scan_phase arg
    • fix bug (#85)

    * Use sensor data qos for pointcloud (#82) Co-authored-by: Autoware <<autoware@tier4.jp>>

    • Remove unused remappings (#88)
    • Livox composable node (#87)
    • Fix default value of use_concat_filter and use_radius_search (#90)
    • Fix default value of use_concat_filter and use_radius_search
    • Fix lint
    • [aip_x1]: Fix imu topic name (#94)
    • Fix various typos in launch files (#97)
    • Move individual params to a separate package (#100)
    • Remove individual params (#101)
    • add use_sim-time option (#99)
    • Format launch files (#178)

    * Fix bug of pointcloud_preprocessor.py (#179) Co-authored-by: autoware <<autoware@example.com>>

    • Replace doc by description (#182)
    • Ros2 lsim test (#186)
    • Add group to launch file for var scope
    • Remove pointcloud relay for localization
    • Add use_sim_time

    * Remove pointcloud relay for localization Co-authored-by: Takagi, Isamu <<isamu.takagi@tier4.jp>>

    • Add multithread and intra process option (#187)
    • Add multithread and intra process option
    • Fix velodyne node container executable
    • Add option into aip_xx2
    • Add option into aip_x2
    • Add option into aip_x1
    • Add option into aip_s1
    • Add option into aip_customized
    • Add option into lidar.launch.xml
    • Fix invalid attribute in gnss launch (#191)
    • Fix parameter for scan phase (#193)
    • add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) (#196)
    • add septentrio_gnss_driver launcher and switch(septentrio <-> ublox)
    • rm arg(gnss_receiver) escalation and modify septentrio_gnss_driver_node option
    • change gnss_receiver default septentrio to ublox
    • remap all septentrio_gnss_driver topic names
    • replace septentrio gnss driver launch type 'node' to 'include'
    • Use set_parameter for use_sim_time (#198)
    • Use set_parameter for use_sim_time
    • Add default parameter for scenario simulator
    • Format launch files (#228)
    • Format launch files
    • Format launch.py
    • Fix lint
    • Fix aip_xx1 camera launch (#242)
    • Fix gnss topic name (#243)
    • Enable intra process and mt (#204)
    • add imu_corrector (#296)
    • add description for sensing_launch (#336)
    • add description
    • fix sentence
    • add README.md and svg files (#328)
    • add md and svg
    • fix typo
    • fix typo
    • fix word
    • fix typo
    • add lack of things
    • Update README
    • fix depending packages
    • fix word
    • Fix camera launch invalid type string (#344)
    • add view width direction to velodyne_node_container.launch.py etc... (#366)
    • add arg of view_width and view_direction
    • delete initial value

    * add args and params Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]\@users.noreply.github.com>

    • Fix pre-commit (#407)
    • Fix pre-commit errors
    • Fix package.xml
    • Fix pre-commit target (#436)
    • Use scan ground filter for xx1 (#313)
    • Enable time series outlier filter (#314)
    • Fix param name in scan ground filter (#357)
    • Remove aip xx2 model from sensing launch (#446)
    • Add respawn for ublox (#449)
    • delete aip_customized
    • move to aip_launcher
    • delete namespace (#5)
    • fix revert dirname + delete unused arg (#7)
    • revert dirname
    • delete sensor_model
    • delete aip_s1 (#8)
    • Add pre-commit (#10)
    • Add pre-commit
    • Fix for pre-commit
    • Update version
    • Fix target
    • update README (#9)
    • update README temporary
    • Update
    • updateg
    • delete line number
    • re delete line number
    • fix for pre commit
    • fix for pre-commit
    • fix for pre commit
    • update README
    • update README
    • update README
    • Update README
    • update readme
    • use back quote
    • Sync with xx1 develop/ros2 (#14)
    • Fix velodyne launcher (#15)
    • Fix lidar launcher (#16)
    • Rollback XX1's pointcloud_preprocessor to main (#18)
    • Update aip_x1 launch files (#25)
    • Copy velodyne_node_container.launch.py to aip_x1_launch
    • Disable driving recorder (#19)

    * add use_driving_recorder param Co-authored-by: taichiH <<azumade.30@gmail.com>>

    • X1: Change scan_phase 0 to 180 deg
    • X1: Add topic state monitor
    • Add Livox tag filter
    • Add Livox min_range_filter
    • change livox_horizon.launch to support livox_tag_filter composable node (#62)
    • remove unnecessary crop filter for aip_x1 (#63)
    • remove sensing-lidar-pointcloud relay
    • add livox concatenate
    • disable use_intra_process for vector_map_filter
    • change use_intra_process to true
    • [sac ground filter] change height threshold 0.12 -> 0.18

    * Update launch for multi topic livox mode (#68) Co-authored-by: Hiroaki ISHIKAWA <<hiroaki.ishikawa@tier4.jp>> Co-authored-by: taichiH <<azumade.30@gmail.com>>

    • add westering sun extraction filter (#76)
    • fix bug (#92)
    • Fix concat timeout (#91)
    • add new livox driver launch file (#94)
    • fix frame_id (#95)
    • Feature/compare elevation map (#100)
    • Change livox crop range 14m->18m
    • Use executable for new_lidar_driver_launch (#120)
    • Change ransac height thresh (#110) (#115)
    • Add livox to diag name of topic_state_monitor (#162)
    • Change elevation value method and height thresh (#163)

    * change ground filter hight threshold (#174) (#176) Co-authored-by: Taichi Higashide <<taichi.higashide@tier4.jp>>

    • Copy velodyne_VLP16.launch.xml to aip_x1_launch

    * Change velodyne_node_container.launch.py reference in velodyne_VLP16.launch.xml Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: taichiH <<azumade.30@gmail.com>> Co-authored-by: Taichi Higashide <<taichi.higashide@tier4.jp>> Co-authored-by: tomoya.kimura <<tomoya.kimura@tier4.jp>> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: Hiroaki ISHIKAWA <<hiroaki.ishikawa@tier4.jp>> Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]\@users.noreply.github.com>

    • Add parameter file for diagnostic_aggregator to use in each product (#13)
    • add xx1 parameter
    • add x1 parameter
    • add x2 parameter
    • delete autoware_error_monitor
    • add sensor_kit.param for diagnostic_agg
    • update extra senser diag
    • Remove IMU from X2

    * Move to config directory Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> * Revert "Rollback XX1's pointcloud_preprocessor to main (#18)" This reverts commit 4f9d0e8384526d0638a18856c16500cf8933690b.

    • Change formatter to black (#38)
    • Update pre-commit settings
    • Apply Black
    • Replace ament_lint_common with autoware_lint_common
    • Update build_depends.repos
    • Fix build_depends
    • Remove lidar_ros_driver from package.xml (#39)
    • remove unused pointcloud preprocessor components (#2)
    • feature/use common pointcloud container (#8)
    • add arg
    • improve readability
    • fix/remove passthrough filter (#9)
    • release v0.4.0
    • Add vls description (#3)
    • remove ROS1 packages

    * Revert "remove ROS1 packages" This reverts commit 7c1e0d930473170ada063f45c961dc40abd0357b.

    • add colcon_ignore
    • port to ROS2
    • add xacro namespace for VLP-16/128 tags
    • fix xacro:color value
    • Ros2 v0.8.0 update (#7)
    • [ROS2] pandar_description (#9)
    • Feature/add pandar (#7)
    • add decription for Hesai LiDAR
    • fix direction
    • update for ros2
    • fix config_dir (#11)
    • delete descriptions except for current reference
    • fix suffix to name (#2)
    • delete aip_s1 (#3)
    • Modify sensor config (#4)
    • Update x1 sensor config files
    • Update xx1 sensor config files
    • Update x2 sensor config files
    • Run pre-commit
    • Add prettier-xacro to pre-commit (#6)
    • Run pre-commit
    • Update README.md
    • Fix for pre-commit
    • Cosmetic change
    • Add _link

    * Fix missing link Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>

    • Fix tlr camera link name for xx1 (#9)
    • update README.md
    • fix build depends
    • fix files
    • apply pre-commit
    • fix package.xml

    * remove README for now Co-authored-by: mitsudome-r <<ryohsuke.mitsudome@tier4.jp>> Co-authored-by: Akihito Ohsato <<aohsato@gmail.com>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Yukihiro Saito <<yukky.saito@gmail.com>> Co-authored-by: Frederik Beaujean <<72439809+fred-apex-ai@users.noreply.github.com>> Co-authored-by: Esteve Fernandez <<esteve@apache.org>> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>> Co-authored-by: Taichi Higashide <<taichi.higashide@tier4.jp>> Co-authored-by: hiroyuki obinata <<58019445+obi-t4@users.noreply.github.com>> Co-authored-by: hosokawa <<hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>> Co-authored-by: HOSOKAWA Ikuto <<hosokawa.ikuto@gmail.com>> Co-authored-by: wep21 <<border_goldenmarket@yahoo.co.jp>> Co-authored-by: Autoware <<autoware@tier4.jp>> Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: tkimura4 <<tomoya.kimura@tier4.jp>> Co-authored-by: autoware <<autoware@example.com>> Co-authored-by: Takagi, Isamu <<isamu.takagi@tier4.jp>> Co-authored-by: hiro-ya-iv <<30652835+hiro-ya-iv@users.noreply.github.com>> Co-authored-by: YamatoAndo <<yamato.ando@gmail.com>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]\@users.noreply.github.com> Co-authored-by: taichiH <<azumade.30@gmail.com>> Co-authored-by: Hiroaki ISHIKAWA <<hiroaki.ishikawa@tier4.jp>> Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>> Co-authored-by: Keisuke Shima <<19993104+KeisukeShima@users.noreply.github.com>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Shinnosuke Hirakawa <<8327162+0x126@users.noreply.github.com>>

  • Contributors: Amadeusz Szymko, David Wong, Ismet Atabay, Kaan Çolak, Kenji Miyake, Kenzo Lobos Tsunekawa, Max Schmeller, Shunsuke Miura, Takeshi Miura, Yamato Ando, Yi-Hsiang Fang (Vivid), Yoshi Ri, Yukihiro Saito, kminoda

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/velodyne_VLS128.launch.xml
      • launch_driver [default: true]
      • model [default: VLS128]
      • max_range [default: 250.0]
      • min_range [default: 0.5]
      • sensor_frame [default: velodyne]
      • return_mode [default: SingleStrongest]
      • sensor_ip [default: 192.168.1.201]
      • host_ip [default: 255.255.255.255]
      • data_port [default: 2368]
      • scan_phase [default: 0.0]
      • cloud_min_angle [default: 0]
      • cloud_max_angle [default: 360]
      • vehicle_mirror_param_file
      • container_name [default: velodyne_node_container]
      • udp_only [default: false]
  • launch/robosense_Bpearl.launch.xml
      • launch_driver [default: true]
      • model [default: Bpearl]
      • max_range [default: 30.0]
      • min_range [default: 0.4]
      • sensor_frame [default: robosense]
      • return_mode [default: SingleStrongest]
      • sensor_ip [default: 192.168.1.200]
      • host_ip [default: 255.255.255.255]
      • data_port [default: 2368]
      • gnss_port [default: 7788]
      • scan_phase [default: 0.0]
      • cloud_min_angle [default: 0]
      • cloud_max_angle [default: 360]
      • vehicle_mirror_param_file
      • container_name [default: robosense_node_container]
      • udp_only [default: false]
  • launch/robosense_Helios.launch.xml
      • launch_driver [default: true]
      • model [default: Helios]
      • max_range [default: 150.0]
      • min_range [default: 0.2]
      • sensor_frame [default: robosense]
      • return_mode [default: SingleStrongest]
      • sensor_ip [default: 192.168.1.200]
      • host_ip [default: 255.255.255.255]
      • data_port [default: 2368]
      • gnss_port [default: 7788]
      • scan_phase [default: 0.0]
      • cloud_min_angle [default: 0]
      • cloud_max_angle [default: 360]
      • vehicle_mirror_param_file
      • container_name [default: robosense_node_container]
      • udp_only [default: false]
  • launch/velodyne_VLP16.launch.xml
      • launch_driver [default: true]
      • model [default: VLP16]
      • max_range [default: 130.0]
      • min_range [default: 0.4]
      • sensor_frame [default: velodyne]
      • return_mode [default: SingleStrongest]
      • sensor_ip [default: 192.168.1.201]
      • host_ip [default: 255.255.255.255]
      • data_port [default: 2368]
      • scan_phase [default: 0.0]
      • cloud_min_angle [default: 0]
      • cloud_max_angle [default: 360]
      • vehicle_mirror_param_file
      • container_name [default: velodyne_node_container]
      • udp_only [default: false]

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