diff --git a/ros2_driver/src/ti_mmwave_rospkg/CMakeLists.txt b/ros2_driver/src/ti_mmwave_rospkg/CMakeLists.txt index 7e87dc9..4a3d906 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/CMakeLists.txt +++ b/ros2_driver/src/ti_mmwave_rospkg/CMakeLists.txt @@ -224,6 +224,10 @@ install(DIRECTORY config DESTINATION share/${PROJECT_NAME} ) +install(DIRECTORY + cfg + DESTINATION share/${PROJECT_NAME} +) install(TARGETS mmWaveCommSrv DESTINATION lib/${PROJECT_NAME} diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/1443_Standard.py b/ros2_driver/src/ti_mmwave_rospkg/launch/1443_Standard.py index 0568084..fd74409 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/1443_Standard.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/1443_Standard.py @@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory def generate_launch_description(): # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1443_Standard.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','1443_Standard.cfg') device = "1443" name = "/mmWaveCLI" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') ld = LaunchDescription() ConfigParameters = os.path.join( @@ -49,7 +49,7 @@ def generate_launch_description(): {"mmwavecli_cfg": path} ] ) - + mmWaveQuickConfig = Node( package="ti_mmwave_rospkg", executable="mmWaveQuickConfig", @@ -90,10 +90,9 @@ def generate_launch_description(): ) Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + package='rviz2', + executable='rviz2', + arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] ) ld.add_action(global_param_node) diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/1642_Standard.py b/ros2_driver/src/ti_mmwave_rospkg/launch/1642_Standard.py index ddaf314..3e6cf98 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/1642_Standard.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/1642_Standard.py @@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory def generate_launch_description(): # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1642_Standard.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','1642_Standard.cfg') name = "/mmWaveCLI" device = "1642" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') ld = LaunchDescription() ConfigParameters = os.path.join( @@ -49,7 +49,7 @@ def generate_launch_description(): {"mmwavecli_cfg": path} ] ) - + mmWaveQuickConfig = Node( package="ti_mmwave_rospkg", executable="mmWaveQuickConfig", @@ -90,10 +90,9 @@ def generate_launch_description(): ) Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + package='rviz2', + executable='rviz2', + arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] ) ld.add_action(global_param_node) diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/1843_Standard.py b/ros2_driver/src/ti_mmwave_rospkg/launch/1843_Standard.py index 3e21f4c..1732e38 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/1843_Standard.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/1843_Standard.py @@ -8,14 +8,14 @@ from ament_index_python.packages import get_package_share_directory def generate_launch_description(): # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/1843_Standard.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','1843_Standard.cfg') device = "1843" name = "/mmWaveCLI" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') ld = LaunchDescription() ConfigParameters = os.path.join( @@ -49,7 +49,7 @@ def generate_launch_description(): {"mmwavecli_cfg": path} ] ) - + mmWaveQuickConfig = Node( package="ti_mmwave_rospkg", executable="mmWaveQuickConfig", @@ -90,10 +90,9 @@ def generate_launch_description(): ) Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + package='rviz2', + executable='rviz2', + arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] ) ld.add_action(global_param_node) diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/6432_Standard.py b/ros2_driver/src/ti_mmwave_rospkg/launch/6432_Standard.py index 3c1f4dd..0586bdd 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/6432_Standard.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/6432_Standard.py @@ -11,14 +11,14 @@ from ament_index_python.packages import get_package_share_directory def generate_launch_description(): - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6432_Standard_Uncompressed.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','6432_Standard_Uncompressed.cfg') device = "6432" name = "/mmWaveCLI" command_port = "/dev/ttyACM0" command_rate = "115200" data_port = "/dev/ttyACM0" data_rate = "115200" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') ld = LaunchDescription() ConfigParameters = os.path.join( @@ -52,7 +52,7 @@ def generate_launch_description(): {"mmwavecli_cfg": path} ] ) - + mmWaveQuickConfig = Node( package="ti_mmwave_rospkg", executable="mmWaveQuickConfig", @@ -79,7 +79,7 @@ def generate_launch_description(): ) delay = TimerAction( - period=5.0, + period=5.0, actions=[Node( package="ti_mmwave_rospkg", executable="DataHandlerClass", @@ -97,7 +97,7 @@ def generate_launch_description(): package='rviz2', executable='rviz2', arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + )] ) @@ -108,4 +108,4 @@ def generate_launch_description(): ld.add_action(delay) return ld - + diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py b/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py index 99a9174..aac0af1 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py @@ -1,23 +1,32 @@ import os -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution +from launch import LaunchDescription, conditions +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare 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' + ) + + # Use the launch argument in the condition for adding the RViz node + rviz_enabled = LaunchConfiguration('rviz') + # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Standard.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','6843AOP_Standard.cfg') device = "6843" name = "/mmWaveCLI" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') - ld = LaunchDescription() ConfigParameters = os.path.join( my_package_dir, 'config', @@ -32,24 +41,24 @@ def generate_launch_description(): ) 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} + 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", @@ -89,13 +98,16 @@ def generate_launch_description(): ] ) + Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + 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(mmWaveCommSrv) ld.add_action(mmWaveQuickConfig) @@ -103,4 +115,4 @@ def generate_launch_description(): ld.add_action(DataHandlerClass) ld.add_action(Rviz2) - return ld \ No newline at end of file + return ld diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py b/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py index c194669..85feaf9 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py @@ -1,23 +1,32 @@ import os -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution +from launch import LaunchDescription, conditions +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare 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' + ) + + # Use the launch argument in the condition for adding the RViz node + rviz_enabled = LaunchConfiguration('rviz') + # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Tracking.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg') device = "6843" name = "/mmWaveCLI" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') - ld = LaunchDescription() ConfigParameters = os.path.join( my_package_dir, 'config', @@ -32,24 +41,24 @@ def generate_launch_description(): ) 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} + 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", @@ -89,13 +98,16 @@ def generate_launch_description(): ] ) + Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + 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(mmWaveCommSrv) ld.add_action(mmWaveQuickConfig) @@ -103,4 +115,4 @@ def generate_launch_description(): ld.add_action(DataHandlerClass) ld.add_action(Rviz2) - return ld \ No newline at end of file + return ld diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py b/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py index 889a940..8213389 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py @@ -1,23 +1,32 @@ import os -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution +from launch import LaunchDescription, conditions +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare 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' + ) + + # Use the launch argument in the condition for adding the RViz node + rviz_enabled = LaunchConfiguration('rviz') + # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843ISK_Occupancy.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','6843ISK_Occupancy.cfg') device = "6843" name = "/mmWaveCLI" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') - ld = LaunchDescription() ConfigParameters = os.path.join( my_package_dir, 'config', @@ -32,24 +41,24 @@ def generate_launch_description(): ) 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} + 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", @@ -89,13 +98,16 @@ def generate_launch_description(): ] ) + Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + 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(mmWaveCommSrv) ld.add_action(mmWaveQuickConfig) @@ -103,4 +115,4 @@ def generate_launch_description(): ld.add_action(DataHandlerClass) ld.add_action(Rviz2) - return ld \ No newline at end of file + return ld diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py b/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py index 71dd161..ee0d1cd 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py @@ -1,23 +1,32 @@ import os -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution +from launch import LaunchDescription, conditions +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare 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' + ) + + # Use the launch argument in the condition for adding the RViz node + rviz_enabled = LaunchConfiguration('rviz') + # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843ISK_Standard.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','6843ISK_Standard.cfg') device = "6843" name = "/mmWaveCLI" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') - ld = LaunchDescription() ConfigParameters = os.path.join( my_package_dir, 'config', @@ -32,24 +41,24 @@ def generate_launch_description(): ) 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} + 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", @@ -89,13 +98,16 @@ def generate_launch_description(): ] ) + Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + 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(mmWaveCommSrv) ld.add_action(mmWaveQuickConfig) @@ -103,4 +115,4 @@ def generate_launch_description(): ld.add_action(DataHandlerClass) ld.add_action(Rviz2) - return ld \ No newline at end of file + return ld diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py b/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py index c194669..85feaf9 100644 --- a/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py @@ -1,23 +1,32 @@ import os -from launch import LaunchDescription -from launch.substitutions import PathJoinSubstitution +from launch import LaunchDescription, conditions +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare 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' + ) + + # Use the launch argument in the condition for adding the RViz node + rviz_enabled = LaunchConfiguration('rviz') + # Enter Path and Name Here - path = "/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/cfg/6843AOP_Tracking.cfg"; + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg') device = "6843" name = "/mmWaveCLI" command_port = "/dev/ttyUSB0" command_rate = "115200" data_port = "/dev/ttyUSB1" data_rate = "921600" - my_package_dir = get_package_share_directory('ti_mmwave_rospkg') - ld = LaunchDescription() ConfigParameters = os.path.join( my_package_dir, 'config', @@ -32,24 +41,24 @@ def generate_launch_description(): ) 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} + 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", @@ -89,13 +98,16 @@ def generate_launch_description(): ] ) + Rviz2 = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] - + 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(mmWaveCommSrv) ld.add_action(mmWaveQuickConfig) @@ -103,4 +115,4 @@ def generate_launch_description(): ld.add_action(DataHandlerClass) ld.add_action(Rviz2) - return ld \ No newline at end of file + return ld diff --git a/ros2_driver/src/ti_mmwave_rospkg/launch/rviz_launch.py b/ros2_driver/src/ti_mmwave_rospkg/launch/rviz_launch.py new file mode 100644 index 0000000..138131c --- /dev/null +++ b/ros2_driver/src/ti_mmwave_rospkg/launch/rviz_launch.py @@ -0,0 +1,21 @@ +import os +from launch import LaunchDescription +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + + # Enter Path and Name Here + my_package_dir = get_package_share_directory('ti_mmwave_rospkg') + + Rviz2 = Node( + package='rviz2', + executable='rviz2', + arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')] + ) + + ld = LaunchDescription([ + Rviz2 + ]) + + return ld \ No newline at end of file