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@FelixHuang18 could you have a look over this PR? |
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@georgflick when I have multiple LiDARs in config file, it will create multiple nodes with the same name as the name of node will be set as the name of the container. How can I solve it? from launch import LaunchDescription
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description():
config_file = os.path.join(get_package_share_directory('rslidar_sdk'), 'config', 'robosense_config.yaml')
rslidar_component = ComposableNode(
package='rslidar_sdk',
plugin='robosense::lidar::RSLidarSDKComponent',
name='rslidar_node',
parameters=[{
'config_path': config_file,
}]
)
loader = LoadComposableNodes(
target_container='pointcloud_container',
composable_node_descriptions=[rslidar_component]
)
return LaunchDescription([loader]) |
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Adding ROS2 component with launcher
How-To-Test:
Manually:
ros2 run rclcpp_components component_container --ros-args -r __node:=component_containerros2 component load /component_container rslidar_sdk robosense::lidar::RSLidarSDKComponentLauncher:
ros2 launch rslidar_sdk start_component.launch.py