QUYVN/Test_LibLidarROS2
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QUYVN
2026-07-03 15:56:11 +07:00
parent 40eed662b3
commit 9e28eb2b31
2 changed files with 179 additions and 1 deletions
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16
config/lidar.yaml
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@@ -1,7 +1,7 @@
lidarlib_node:
ros__parameters:
# Danh sach lidar chay cung luc. Them/bot ten tuy y; moi ten co 1 block rieng ben duoi.
lidars: ["tim7", "nano", "gs15", "1f"]
lidars: ["tim7", "nano", "nano1", "gs15", "1f"]
gs15:
@@ -58,4 +58,18 @@ lidarlib_node:
range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
range_max: 0.0
angle_min_deg: -360.0 # do; +/-360 = tat (giu nguyen goc thiet bi)
angle_max_deg: 360.0
nano1:
brand: "SICK"
model: "SICK-nanoScan3"
ip: "0.0.0.0"
port: 6062
inverted: false # true neu lap up nguoc (node dao chieu scan)
topic: "scan_front2"
frame_id: "front2"
timeout_ms: 1000
range_min: 0.0 # met; 0.0 = tat (dung gia tri thiet bi bao)
range_max: 0.0
angle_min_deg: -360.0 # do; +/-360 = tat (giu nguyen goc thiet bi)
angle_max_deg: 360.0