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use private handler #56

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078a026
use private handler
knorth55 Jan 25, 2024
c196a94
update launch files
knorth55 Jan 25, 2024
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20 changes: 15 additions & 5 deletions launch/mapping_horizon.launch
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Original file line number Diff line number Diff line change
@@ -1,18 +1,28 @@
<launch>

<arg name="rviz" default="true" />
<arg name="cloud" default="/livox/lidar"/>

<node pkg="livox_mapping" type="loam_scanRegistration_horizon" name="scanRegistration_horizon" output="screen">
<remap from="~input" to="$(arg cloud)"/>
<remap from="~cloud" to="/livox_cloud"/>
<remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
<remap from="~cloud_flat" to="/laser_cloud_flat"/>
</node>

<node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
<param name="map_file_path" type="string" value=" " />
<param name="filter_parameter_corner" type="double" value="0.2" />
<param name="filter_parameter_surf" type="double" value="0.4" />
<remap from="~cloud" to="/livox_cloud"/>
<remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
<remap from="~cloud_flat" to="/laser_cloud_flat"/>
<remap from="~cloud_surround" to="/laser_surround"/>
<remap from="~cloud_surround_corner" to="/laser_surround_corner"/>
<remap from="~odometry" to="/aft_mapped_to_init"/>
<param name="map_file_path" type="string" value=" " />
<param name="filter_parameter_corner" type="double" value="0.2" />
<param name="filter_parameter_surf" type="double" value="0.4" />
</node>

<node pkg="livox_mapping" type="livox_repub" name="livox_repub" output="screen" >
<remap from="/livox/lidar" to="/livox/lidar" />
<remap from="$(arg cloud)" to="$(arg cloud)" />
</node>

<group if="$(arg rviz)">
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18 changes: 14 additions & 4 deletions launch/mapping_mid.launch
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Original file line number Diff line number Diff line change
@@ -1,14 +1,24 @@
<launch>

<arg name="rviz" default="true" />
<arg name="cloud" default="/livox/lidar"/>

<node pkg="livox_mapping" type="loam_scanRegistration" name="scanRegistration" output="screen">
<remap from="~input" to="$(arg cloud)"/>
<remap from="~cloud" to="/livox_cloud"/>
<remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
<remap from="~cloud_flat" to="/laser_cloud_flat"/>
</node>

<node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
<param name="map_file_path" type="string" value=" " />
<param name="filter_parameter_corner" type="double" value="0.1" />
<param name="filter_parameter_surf" type="double" value="0.2" />
<remap from="~cloud" to="/livox_cloud"/>
<remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
<remap from="~cloud_flat" to="/laser_cloud_flat"/>
<remap from="~cloud_surround" to="/laser_surround"/>
<remap from="~cloud_surround_corner" to="/laser_surround_corner"/>
<remap from="~odometry" to="/aft_mapped_to_init"/>
<param name="map_file_path" type="string" value=" " />
<param name="filter_parameter_corner" type="double" value="0.1" />
<param name="filter_parameter_surf" type="double" value="0.2" />
</node>

<group if="$(arg rviz)">
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17 changes: 14 additions & 3 deletions launch/mapping_outdoor.launch
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Original file line number Diff line number Diff line change
@@ -1,14 +1,25 @@
<launch>

<arg name="rviz" default="true" />
<arg name="cloud" default="/livox/lidar"/>

<node pkg="livox_mapping" type="loam_scanRegistration" name="scanRegistration" output="screen">
<remap from="~input" to="$(arg cloud)"/>
<remap from="~cloud" to="/livox_cloud"/>
<remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
<remap from="~cloud_flat" to="/laser_cloud_flat"/>
</node>

<node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
<param name="map_file_path" type="string" value=" " />
<param name="filter_parameter_corner" type="double" value="0.2" />
<param name="filter_parameter_surf" type="double" value="0.4" />
<remap from="~cloud" to="/livox_cloud"/>
<remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
<remap from="~cloud_flat" to="/laser_cloud_flat"/>
<remap from="~cloud_surround" to="/laser_surround"/>
<remap from="~cloud_surround_corner" to="/laser_surround_corner"/>
<remap from="~odometry" to="/aft_mapped_to_init"/>
<param name="map_file_path" type="string" value=" " />
<param name="filter_parameter_corner" type="double" value="0.2" />
<param name="filter_parameter_surf" type="double" value="0.4" />
</node>

<group if="$(arg rviz)">
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14 changes: 7 additions & 7 deletions src/laserMapping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -381,26 +381,26 @@ void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloud
int main(int argc, char** argv)
{
ros::init(argc, argv, "laserMapping");
ros::NodeHandle nh;
ros::NodeHandle nh("~");

ros::Subscriber subLaserCloudCornerLast = nh.subscribe<sensor_msgs::PointCloud2>
("/laser_cloud_sharp", 100, laserCloudCornerLastHandler);
("cloud_sharp", 100, laserCloudCornerLastHandler);

ros::Subscriber subLaserCloudSurfLast = nh.subscribe<sensor_msgs::PointCloud2>
("/laser_cloud_flat", 100, laserCloudSurfLastHandler);
("cloud_flat", 100, laserCloudSurfLastHandler);

ros::Subscriber subLaserCloudFullRes = nh.subscribe<sensor_msgs::PointCloud2>
("/livox_cloud", 100, laserCloudFullResHandler);
("cloud", 100, laserCloudFullResHandler);

ros::Publisher pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>
("/laser_cloud_surround", 100);
("cloud_surround", 100);
ros::Publisher pubLaserCloudSurround_corner = nh.advertise<sensor_msgs::PointCloud2>
("/laser_cloud_surround_corner", 100);
("cloud_surround_corner", 100);

ros::Publisher pubLaserCloudFullRes = nh.advertise<sensor_msgs::PointCloud2>
("/velodyne_cloud_registered", 100);

ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry> ("/aft_mapped_to_init", 1);
ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry> ("odometry", 1);
nav_msgs::Odometry odomAftMapped;
odomAftMapped.header.frame_id = "/camera_init";
odomAftMapped.child_frame_id = "/aft_mapped";
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10 changes: 5 additions & 5 deletions src/scanRegistration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -526,24 +526,24 @@ void laserCloudHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloudMsg)
int main(int argc, char** argv)
{
ros::init(argc, argv, "scanRegistration");
ros::NodeHandle nh;
ros::NodeHandle nh("~");

// ros::Subscriber subLaserCloud_for_hk = nh.subscribe<sensor_msgs::PointCloud2>
// ("/livox/lidar", 2, laserCloudHandler_temp);
// pubLaserCloud_for_hk = nh.advertise<sensor_msgs::PointCloud2>
// ("/livox/lidar_temp", 2);

ros::Subscriber subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>
("/livox/lidar", 100, laserCloudHandler);
("input", 100, laserCloudHandler);
pubLaserCloud = nh.advertise<sensor_msgs::PointCloud2>
("/livox_cloud", 20);
("cloud", 20);

pubCornerPointsSharp = nh.advertise<sensor_msgs::PointCloud2>
("/laser_cloud_sharp", 20);
("cloud_sharp", 20);


pubSurfPointsFlat = nh.advertise<sensor_msgs::PointCloud2>
("/laser_cloud_flat", 20);
("cloud_flat", 20);


ros::spin();
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