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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
1807 changed files with 307078 additions and 0 deletions
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1
Devices/Packages/olei_lidar_driver_ros/olelidar/launch/debug.conf Executable file
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log4j.logger.ros.olelidar=DEBUG

22
Devices/Packages/olei_lidar_driver_ros/olelidar/launch/decoder.launch Executable file
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<launch>
<arg name="pkg" value="olelidar"/>
<arg name="frame_id" default="olelidar"/>
<arg name="r_max" default="50"/>
<arg name="ang_start" default="0"/>
<arg name="ang_end" default="360"/>
<arg name="inverted" default="false"/>
<arg name="poly" default="1"/>
<node pkg="$(arg pkg)" type="$(arg pkg)_decoder" name="$(arg pkg)_decoder" output="screen">
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="r_max" type="int" value="$(arg r_max)"/>
<param name="ang_start" type="int" value="$(arg ang_start)"/>
<param name="ang_end" type="int" value="$(arg ang_end)"/>
<param name="inverted" type="bool" value="$(arg inverted)"/>
<param name="poly" type="int" value="$(arg poly)"/>
<remap from="~packet" to="packet"/>
<remap from="~scan" to="scan"/>
</node>
</launch>

15
Devices/Packages/olei_lidar_driver_ros/olelidar/launch/driver.launch Executable file
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<launch>
<arg name="pkg" value="olelidar"/>
<arg name="device_ip" default="192.168.1.100"/>
<arg name="device_port" default="2368"/>
<arg name="local_ip" default="192.168.2.198"/>
<arg name="multiaddr" default="239.255.0.100"/>
<node pkg="olelidar" type="$(arg pkg)_driver" name="$(arg pkg)_driver" output="screen">
<param name="device_ip" type="string" value="$(arg device_ip)"/>
<param name="device_port" type="int" value="$(arg device_port)"/>
<param name="local_ip" type="string" value="$(arg local_ip)"/>
<param name="multiaddr" type="string" value="$(arg multiaddr)"/>
<remap from="~packet" to="packet"/>
</node>
</launch>

57
Devices/Packages/olei_lidar_driver_ros/olelidar/launch/scan.launch Executable file
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<launch>
<arg name="pkg" value="olelidar"/>
<!-- driver -->
<arg name="driver" default="true"/>
<arg name="device_ip_1" default="192.168.1.124"/>
<arg name="device_ip_2" default="192.168.2.13"/>
<arg name="device_port_1" default="2368"/>
<arg name="device_port_2" default="2369"/>
<arg name="local_ip" default="192.168.1.121"/>
<arg name="multiaddr" default=""/>
<!-- decoder -->
<arg name="frame_id_1" default="front_scan"/>
<arg name="frame_id_2" default="rear_scan"/>
<arg name="r_max_1" default="10"/>
<arg name="r_max_2" default="25"/>
<arg name="ang_start" default="-180"/>
<arg name="ang_end" default="180"/>
<arg name="decoder" default="true"/>
<arg name="inverted" default="false"/>
<arg name="debug" default="false"/>
<env if="$(arg debug)" name="ROSCONSOLE_CONFIG_FILE" value="$(find olelidar)/launch/debug.conf"/>
<node pkg="$(arg pkg)" type="$(arg pkg)_decoder" name="$(arg pkg)_decoder" output="screen" ns="front_scan">
<param name="frame_id" type="string" value="$(arg frame_id_1)"/>
<param name="r_max" type="int" value="$(arg r_max_1)"/>
<param name="ang_start" type="int" value="$(arg ang_start)"/>
<param name="ang_end" type="int" value="$(arg ang_end)"/>
<param name="inverted" type="bool" value="$(arg inverted)"/>
<remap from="~packet" to="packet"/>
<remap from="~scan" to="/front_scan"/>
<param name="device_ip" type="string" value="$(arg device_ip_1)"/>
<param name="device_port" type="int" value="$(arg device_port_1)"/>
<param name="local_ip" type="string" value="$(arg local_ip)"/>
<param name="multiaddr" type="string" value="$(arg multiaddr)"/>
</node>
<!-- <node pkg="$(arg pkg)" type="$(arg pkg)_decoder" name="$(arg pkg)_decoder" output="screen" ns="rear_scan">
<param name="frame_id" type="string" value="$(arg frame_id_2)"/>
<param name="r_max" type="int" value="$(arg r_max_2)"/>
<param name="ang_start" type="int" value="$(arg ang_start)"/>
<param name="ang_end" type="int" value="$(arg ang_end)"/>
<param name="inverted" type="bool" value="$(arg inverted)"/>
<remap from="~packet" to="packet"/>
<remap from="~scan" to="/rear_scan"/>
<param name="device_ip" type="string" value="$(arg device_ip_2)"/>
<param name="device_port" type="int" value="$(arg device_port_2)"/>
<param name="local_ip" type="string" value="$(arg local_ip)"/>
<param name="multiaddr" type="string" value="$(arg multiaddr)"/>
</node> -->
</launch>