[ros2_driver/ti_mmwave_rospkg] Updated the launch files and the rviz file.

- Added a common launch file IWR6843.py for all the IWR6843x launch files.
- CLI config file, command port, and data port can passed at the command line with launch arguments. For example, below is equivalent to '6843ISK_Tracking.py':
  ros2 launch ti_mmwave_rospkg IWR6843.py cfg_file:=6843ISK_Tracking.cfg
- 6843{ISK,AOP}_{Standard,Tracking,Occupancy}.py now call the common launch file.
- Updated the rviz file to display the XYZ axes.

ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py

@@ -1,118 +1,29 @@
 import os
-from launch import LaunchDescription, conditions
+from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
-    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
-    rviz_arg = DeclareLaunchArgument(
-        'rviz',
-        default_value='true',
-        description='Enable RViz'
-    )
 
-    # Use the launch argument in the condition for adding the RViz node
+    # include IWR6843.py
-    rviz_enabled = LaunchConfiguration('rviz')
+    package_dir = get_package_share_directory('ti_mmwave_rospkg')
-
+    iwr6843_include = IncludeLaunchDescription(
-    # Enter Path and Name Here
+        PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+        launch_arguments={
-    path = os.path.join(my_package_dir,'cfg','6843AOP_Standard.cfg')
+            "cfg_file": '6843AOP_Standard.cfg',
-    device = "6843"
+            "command_port": "/dev/ttyUSB0",
-    name = "/mmWaveCLI"
+            "data_port": "/dev/ttyUSB1",
-    command_port = "/dev/ttyUSB0"
+            "rviz": LaunchConfiguration('rviz'),
-    command_rate = "115200"
+        }.items()
-    data_port = "/dev/ttyUSB1"
-    data_rate = "921600"
-
-    ConfigParameters = os.path.join(
-        my_package_dir,
-        'config',
-        'global_params.yaml',
-        'launch/*.rviz'
-    )
-    global_param_node = Node(
-        package='ti_mmwave_rospkg',
-        executable='ConfigParameterServer',
-        name='ConfigParameterServer',
-        parameters=[ConfigParameters]
-    )
-
-    mmWaveCommSrv = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveCommSrv",
-        name="mmWaveCommSrv",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"command_port": command_port},
-            {"command_rate": command_rate},
-            {"data_port": data_port},
-            {"data_rate": data_rate},
-            {"max_allowed_elevation_angle_deg": "90"},
-            {"max_allowed_azimuth_angle_deg": "90"},
-            {"frame_id": "/ti_mmwave_0"},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    mmWaveQuickConfig = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveQuickConfig",
-        name="mmWaveQuickConfig",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    ParameterParser = Node(
-        package="ti_mmwave_rospkg",
-        executable="ParameterParser",
-        name="ParameterParser",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"device_name": device},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    DataHandlerClass = Node(
-        package="ti_mmwave_rospkg",
-        executable="DataHandlerClass",
-        name="DataHandlerClass",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path},
-            {"data_port": data_port},
-            {"data_rate": data_rate}
-        ]
-
-    )
-
-    Rviz2 = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
-        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
     ld = LaunchDescription()
     ld.add_action(rviz_arg)
-    ld.add_action(global_param_node)
+    ld.add_action(iwr6843_include)
-    ld.add_action(mmWaveCommSrv)
-    ld.add_action(mmWaveQuickConfig)
-    ld.add_action(ParameterParser)
-    ld.add_action(DataHandlerClass)
-    ld.add_action(Rviz2)
 
     return ld

ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py

@@ -1,118 +1,29 @@
 import os
-from launch import LaunchDescription, conditions
+from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
-    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
-    rviz_arg = DeclareLaunchArgument(
-        'rviz',
-        default_value='true',
-        description='Enable RViz'
-    )
 
-    # Use the launch argument in the condition for adding the RViz node
+    # include IWR6843.py
-    rviz_enabled = LaunchConfiguration('rviz')
+    package_dir = get_package_share_directory('ti_mmwave_rospkg')
-
+    iwr6843_include = IncludeLaunchDescription(
-    # Enter Path and Name Here
+        PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+        launch_arguments={
-    path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg')
+            "cfg_file": '6843AOP_Tracking.cfg',
-    device = "6843"
+            "command_port": "/dev/ttyUSB0",
-    name = "/mmWaveCLI"
+            "data_port": "/dev/ttyUSB1",
-    command_port = "/dev/ttyUSB0"
+            "rviz": LaunchConfiguration('rviz'),
-    command_rate = "115200"
+        }.items()
-    data_port = "/dev/ttyUSB1"
-    data_rate = "921600"
-
-    ConfigParameters = os.path.join(
-        my_package_dir,
-        'config',
-        'global_params.yaml',
-        'launch/*.rviz'
-    )
-    global_param_node = Node(
-        package='ti_mmwave_rospkg',
-        executable='ConfigParameterServer',
-        name='ConfigParameterServer',
-        parameters=[ConfigParameters]
-    )
-
-    mmWaveCommSrv = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveCommSrv",
-        name="mmWaveCommSrv",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"command_port": command_port},
-            {"command_rate": command_rate},
-            {"data_port": data_port},
-            {"data_rate": data_rate},
-            {"max_allowed_elevation_angle_deg": "90"},
-            {"max_allowed_azimuth_angle_deg": "90"},
-            {"frame_id": "/ti_mmwave_0"},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    mmWaveQuickConfig = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveQuickConfig",
-        name="mmWaveQuickConfig",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    ParameterParser = Node(
-        package="ti_mmwave_rospkg",
-        executable="ParameterParser",
-        name="ParameterParser",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"device_name": device},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    DataHandlerClass = Node(
-        package="ti_mmwave_rospkg",
-        executable="DataHandlerClass",
-        name="DataHandlerClass",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path},
-            {"data_port": data_port},
-            {"data_rate": data_rate}
-        ]
-
-    )
-
-    Rviz2 = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
-        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
     ld = LaunchDescription()
     ld.add_action(rviz_arg)
-    ld.add_action(global_param_node)
+    ld.add_action(iwr6843_include)
-    ld.add_action(mmWaveCommSrv)
-    ld.add_action(mmWaveQuickConfig)
-    ld.add_action(ParameterParser)
-    ld.add_action(DataHandlerClass)
-    ld.add_action(Rviz2)
 
     return ld

ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py

@@ -1,118 +1,29 @@
 import os
-from launch import LaunchDescription, conditions
+from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
-    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
-    rviz_arg = DeclareLaunchArgument(
-        'rviz',
-        default_value='true',
-        description='Enable RViz'
-    )
 
-    # Use the launch argument in the condition for adding the RViz node
+    # include IWR6843.py
-    rviz_enabled = LaunchConfiguration('rviz')
+    package_dir = get_package_share_directory('ti_mmwave_rospkg')
-
+    iwr6843_include = IncludeLaunchDescription(
-    # Enter Path and Name Here
+        PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+        launch_arguments={
-    path = os.path.join(my_package_dir,'cfg','6843ISK_Occupancy.cfg')
+            "cfg_file": '6843ISK_Occupancy.cfg',
-    device = "6843"
+            "command_port": "/dev/ttyUSB0",
-    name = "/mmWaveCLI"
+            "data_port": "/dev/ttyUSB1",
-    command_port = "/dev/ttyUSB0"
+            "rviz": LaunchConfiguration('rviz'),
-    command_rate = "115200"
+        }.items()
-    data_port = "/dev/ttyUSB1"
-    data_rate = "921600"
-
-    ConfigParameters = os.path.join(
-        my_package_dir,
-        'config',
-        'global_params.yaml',
-        'launch/*.rviz'
-    )
-    global_param_node = Node(
-        package='ti_mmwave_rospkg',
-        executable='ConfigParameterServer',
-        name='ConfigParameterServer',
-        parameters=[ConfigParameters]
-    )
-
-    mmWaveCommSrv = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveCommSrv",
-        name="mmWaveCommSrv",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"command_port": command_port},
-            {"command_rate": command_rate},
-            {"data_port": data_port},
-            {"data_rate": data_rate},
-            {"max_allowed_elevation_angle_deg": "90"},
-            {"max_allowed_azimuth_angle_deg": "90"},
-            {"frame_id": "/ti_mmwave_0"},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    mmWaveQuickConfig = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveQuickConfig",
-        name="mmWaveQuickConfig",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    ParameterParser = Node(
-        package="ti_mmwave_rospkg",
-        executable="ParameterParser",
-        name="ParameterParser",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"device_name": device},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    DataHandlerClass = Node(
-        package="ti_mmwave_rospkg",
-        executable="DataHandlerClass",
-        name="DataHandlerClass",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path},
-            {"data_port": data_port},
-            {"data_rate": data_rate}
-        ]
-
-    )
-
-    Rviz2 = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
-        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
     ld = LaunchDescription()
     ld.add_action(rviz_arg)
-    ld.add_action(global_param_node)
+    ld.add_action(iwr6843_include)
-    ld.add_action(mmWaveCommSrv)
-    ld.add_action(mmWaveQuickConfig)
-    ld.add_action(ParameterParser)
-    ld.add_action(DataHandlerClass)
-    ld.add_action(Rviz2)
 
     return ld

ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py

@@ -1,118 +1,29 @@
 import os
-from launch import LaunchDescription, conditions
+from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
-    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
-    rviz_arg = DeclareLaunchArgument(
-        'rviz',
-        default_value='true',
-        description='Enable RViz'
-    )
 
-    # Use the launch argument in the condition for adding the RViz node
+    # include IWR6843.py
-    rviz_enabled = LaunchConfiguration('rviz')
+    package_dir = get_package_share_directory('ti_mmwave_rospkg')
-
+    iwr6843_include = IncludeLaunchDescription(
-    # Enter Path and Name Here
+        PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+        launch_arguments={
-    path = os.path.join(my_package_dir,'cfg','6843ISK_Standard.cfg')
+            "cfg_file": '6843ISK_Standard.cfg',
-    device = "6843"
+            "command_port": "/dev/ttyUSB0",
-    name = "/mmWaveCLI"
+            "data_port": "/dev/ttyUSB1",
-    command_port = "/dev/ttyUSB0"
+            "rviz": LaunchConfiguration('rviz'),
-    command_rate = "115200"
+        }.items()
-    data_port = "/dev/ttyUSB1"
-    data_rate = "921600"
-
-    ConfigParameters = os.path.join(
-        my_package_dir,
-        'config',
-        'global_params.yaml',
-        'launch/*.rviz'
-    )
-    global_param_node = Node(
-        package='ti_mmwave_rospkg',
-        executable='ConfigParameterServer',
-        name='ConfigParameterServer',
-        parameters=[ConfigParameters]
-    )
-
-    mmWaveCommSrv = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveCommSrv",
-        name="mmWaveCommSrv",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"command_port": command_port},
-            {"command_rate": command_rate},
-            {"data_port": data_port},
-            {"data_rate": data_rate},
-            {"max_allowed_elevation_angle_deg": "90"},
-            {"max_allowed_azimuth_angle_deg": "90"},
-            {"frame_id": "/ti_mmwave_0"},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    mmWaveQuickConfig = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveQuickConfig",
-        name="mmWaveQuickConfig",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    ParameterParser = Node(
-        package="ti_mmwave_rospkg",
-        executable="ParameterParser",
-        name="ParameterParser",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"device_name": device},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    DataHandlerClass = Node(
-        package="ti_mmwave_rospkg",
-        executable="DataHandlerClass",
-        name="DataHandlerClass",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path},
-            {"data_port": data_port},
-            {"data_rate": data_rate}
-        ]
-
-    )
-
-    Rviz2 = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
-        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
     ld = LaunchDescription()
     ld.add_action(rviz_arg)
-    ld.add_action(global_param_node)
+    ld.add_action(iwr6843_include)
-    ld.add_action(mmWaveCommSrv)
-    ld.add_action(mmWaveQuickConfig)
-    ld.add_action(ParameterParser)
-    ld.add_action(DataHandlerClass)
-    ld.add_action(Rviz2)
 
     return ld

ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py

@@ -1,118 +1,29 @@
 import os
-from launch import LaunchDescription, conditions
+from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
 
-    # Declare the launch argument
+    rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
-    rviz_arg = DeclareLaunchArgument(
-        'rviz',
-        default_value='true',
-        description='Enable RViz'
-    )
 
-    # Use the launch argument in the condition for adding the RViz node
+    # include IWR6843.py
-    rviz_enabled = LaunchConfiguration('rviz')
+    package_dir = get_package_share_directory('ti_mmwave_rospkg')
-
+    iwr6843_include = IncludeLaunchDescription(
-    # Enter Path and Name Here
+        PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
-    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+        launch_arguments={
-    path = os.path.join(my_package_dir,'cfg','6843ISK_Tracking.cfg')
+            "cfg_file": '6843ISK_Tracking.cfg',
-    device = "6843"
+            "command_port": "/dev/ttyUSB0",
-    name = "/mmWaveCLI"
+            "data_port": "/dev/ttyUSB1",
-    command_port = "/dev/ttyUSB0"
+            "rviz": LaunchConfiguration('rviz'),
-    command_rate = "115200"
+        }.items()
-    data_port = "/dev/ttyUSB1"
-    data_rate = "921600"
-
-    ConfigParameters = os.path.join(
-        my_package_dir,
-        'config',
-        'global_params.yaml',
-        'launch/*.rviz'
-    )
-    global_param_node = Node(
-        package='ti_mmwave_rospkg',
-        executable='ConfigParameterServer',
-        name='ConfigParameterServer',
-        parameters=[ConfigParameters]
-    )
-
-    mmWaveCommSrv = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveCommSrv",
-        name="mmWaveCommSrv",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"command_port": command_port},
-            {"command_rate": command_rate},
-            {"data_port": data_port},
-            {"data_rate": data_rate},
-            {"max_allowed_elevation_angle_deg": "90"},
-            {"max_allowed_azimuth_angle_deg": "90"},
-            {"frame_id": "/ti_mmwave_0"},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    mmWaveQuickConfig = Node(
-        package="ti_mmwave_rospkg",
-        executable="mmWaveQuickConfig",
-        name="mmWaveQuickConfig",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    ParameterParser = Node(
-        package="ti_mmwave_rospkg",
-        executable="ParameterParser",
-        name="ParameterParser",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"device_name": device},
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path}
-        ]
-    )
-
-    DataHandlerClass = Node(
-        package="ti_mmwave_rospkg",
-        executable="DataHandlerClass",
-        name="DataHandlerClass",
-        output="screen",
-        emulate_tty=True,
-        parameters=[
-            {"mmwavecli_name": name},
-            {"mmwavecli_cfg": path},
-            {"data_port": data_port},
-            {"data_rate": data_rate}
-        ]
-
-    )
-
-    Rviz2 = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
-        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
     )
 
     ld = LaunchDescription()
     ld.add_action(rviz_arg)
-    ld.add_action(global_param_node)
+    ld.add_action(iwr6843_include)
-    ld.add_action(mmWaveCommSrv)
-    ld.add_action(mmWaveQuickConfig)
-    ld.add_action(ParameterParser)
-    ld.add_action(DataHandlerClass)
-    ld.add_action(Rviz2)
 
     return ld

ros2_driver/src/ti_mmwave_rospkg/launch/IWR6843.py

@@ -0,0 +1,131 @@
+import os
+from launch import LaunchDescription, conditions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+def generate_launch_description():
+
+    # Declare the launch argument
+    cfg_file_arg = DeclareLaunchArgument(
+        'cfg_file',
+        default_value='6843ISK_Tracking.cfg'
+    )
+
+    command_port_arg = DeclareLaunchArgument(
+        'command_port',
+        default_value='/dev/ttyUSB0'
+    )
+
+    data_port_arg = DeclareLaunchArgument(
+        'data_port',
+        default_value='/dev/ttyUSB1'
+    )
+
+    rviz_arg = DeclareLaunchArgument(
+        'rviz',
+        default_value='true',
+        description='Enable RViz'
+    )
+
+    # Use the launch argument in the condition for adding the RViz node
+    rviz_enabled = LaunchConfiguration('rviz')
+
+    # Enter Path and Name Here
+    my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
+    cfg_file = LaunchConfiguration("cfg_file")
+    mmwavecli_cfg_path = PathJoinSubstitution([my_package_dir, 'cfg', cfg_file])
+
+    device = "6843"
+    name = "/mmWaveCLI"
+    command_port = LaunchConfiguration("command_port")
+    command_rate = "115200"
+    data_port = LaunchConfiguration("data_port")
+    data_rate = "921600"
+
+    ConfigParameters = os.path.join(
+        my_package_dir,
+        'config',
+        'global_params.yaml',
+        'launch/*.rviz'
+    )
+    global_param_node = Node(
+        package='ti_mmwave_rospkg',
+        executable='ConfigParameterServer',
+        name='ConfigParameterServer',
+        parameters=[ConfigParameters]
+    )
+
+    mmWaveCommSrv = Node(
+        package="ti_mmwave_rospkg",
+        executable="mmWaveCommSrv",
+        name="mmWaveCommSrv",
+        output="screen",
+        emulate_tty=True,
+        parameters=[
+            {"command_port": command_port},
+            {"command_rate": command_rate},
+        ]
+    )
+
+    mmWaveQuickConfig = Node(
+        package="ti_mmwave_rospkg",
+        executable="mmWaveQuickConfig",
+        name="mmWaveQuickConfig",
+        output="screen",
+        emulate_tty=True,
+        parameters=[
+            {"mmwavecli_cfg": mmwavecli_cfg_path}
+        ]
+    )
+
+    ParameterParser = Node(
+        package="ti_mmwave_rospkg",
+        executable="ParameterParser",
+        name="ParameterParser",
+        output="screen",
+        emulate_tty=True,
+        parameters=[
+            {"device_name": device},
+            {"mmwavecli_cfg": mmwavecli_cfg_path}
+        ]
+    )
+
+    DataHandlerClass = Node(
+        package="ti_mmwave_rospkg",
+        executable="DataHandlerClass",
+        name="DataHandlerClass",
+        output="screen",
+        emulate_tty=True,
+        parameters=[
+            {"data_port": data_port},
+            {"data_rate": data_rate},
+            {"max_allowed_elevation_angle_deg": 90},
+            {"max_allowed_azimuth_angle_deg": 90},
+            {"frame_id": "ti_mmwave_0"}
+        ]
+
+    )
+
+    Rviz2 = Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
+        condition=conditions.IfCondition(rviz_enabled)  # only launch RViz if the argument is true
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(cfg_file_arg)
+    ld.add_action(command_port_arg)
+    ld.add_action(data_port_arg)
+    ld.add_action(rviz_arg)
+    ld.add_action(global_param_node)
+    ld.add_action(mmWaveCommSrv)
+    ld.add_action(mmWaveQuickConfig)
+    ld.add_action(ParameterParser)
+    ld.add_action(DataHandlerClass)
+    ld.add_action(Rviz2)
+
+    return ld

ros2_driver/src/ti_mmwave_rospkg/launch/rviz.rviz

@@ -7,8 +7,9 @@ Panels:
         - /Global Options1
         - /Status1
         - /PointCloud21
+        - /Axes1
       Splitter Ratio: 0.5
-    Tree Height: 549
+    Tree Height: 555
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -63,9 +64,9 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 0; 255; 0
-      Max Intensity: 20.0
+      Max Intensity: 20
       Min Color: 255; 0; 0
-      Min Intensity: 15.0
+      Min Intensity: 15
       Name: PointCloud2
       Position Transformer: XYZ
       Selectable: true
@@ -82,10 +83,17 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: false
       Value: true
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 0.5
+      Name: Axes
+      Radius: 0.05000000074505806
+      Reference Frame: ti_mmwave_0
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Fixed Frame: ti_mmwave_0
     Frame Rate: 30
   Name: root
   Tools:
@@ -154,7 +162,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: