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add /mmWaveCLI into ti_mmwave_sensor

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Sabeeh Khan
2021-09-01 13:40:43 -05:00
parent 0351473741
commit 13c8c52fc0
1 changed files with 4 additions and 1 deletions
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5
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
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@@ -19,11 +19,14 @@
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="ti_mmwave"/>
<param name="mmWaveCLI_name" value="/mmWaveCLI" />
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
<param name="mmWaveCLI_name" value="/mmWaveCLI" />
</node>
<node pkg="tf2_ros" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave"/>