47 lines
1.9 KiB
Python
47 lines
1.9 KiB
Python
#!/usr/bin/env python
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PACKAGE = "tr360_ros"
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from dynamic_reconfigure.parameter_generator_catkin import *
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# 距离参数
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gen = ParameterGenerator()
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# 距离限制参数
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gen.add("r_lo", double_t, 0, "距离下限(m)", 0.0, 0.0, 100.0)
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gen.add("r_hi", double_t, 0, "距离上限(m)", 100.0, 0.0, 100.0)
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# 方位角参数
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gen.add("az_lo", double_t, 0, "方位角下限(度)", -180.0, -180.0, 180.0)
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gen.add("az_hi", double_t, 0, "方位角上限(度)", 180.0, -180.0, 180.0)
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# 俯仰角参数
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gen.add("el_lo", double_t, 0, "俯仰角下限(度)", -90.0, -90.0, 90.0)
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gen.add("el_hi", double_t, 0, "俯仰角上限(度)", 90.0, -90.0, 90.0)
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# 强度参数
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gen.add("intensity_lo", double_t, 0, "强度下限", 0.0, 0.0, 100.0)
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gen.add("intensity_hi", double_t, 0, "强度上限", 100.0, 0.0, 100.0)
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# 坐标显示范围
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gen.add("x_lo", double_t, 0, "X轴显示下限(m)", -50.0, -100.0, 100.0)
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gen.add("x_hi", double_t, 0, "X轴显示上限(m)", 50.0, -100.0, 100.0)
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gen.add("y_lo", double_t, 0, "Y轴显示下限(m)", -50.0, -100.0, 100.0)
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gen.add("y_hi", double_t, 0, "Y轴显示上限(m)", 50.0, -100.0, 100.0)
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gen.add("z_lo", double_t, 0, "Z轴显示下限(m)", -50.0, -100.0, 100.0)
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gen.add("z_hi", double_t, 0, "Z轴显示上限(m)", 50.0, -100.0, 100.0)
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# 雷达类型选择
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gen.add("radar_type", str_t, 0, "雷达类型", "TR360-3-60", edit_method={"enum_description": ["TR360-3-60: 避障雷达", "TR360-4-60: 地形雷达"]})
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# 网络配置
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gen.add("radar_ip", str_t, 0, "雷达IP地址", "192.168.1.80")
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gen.add("radar_port", int_t, 0, "雷达端口", 10123, 1024, 65535)
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gen.add("local_ip", str_t, 0, "本地IP地址", "192.168.1.193")
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gen.add("local_port", int_t, 0, "本地端口", 10193, 1024, 65535)
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# 点云处理参数
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gen.add("max_points", int_t, 0, "最大点数", 20000, 1000, 100000)
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gen.add("publish_rate", double_t, 0, "发布频率(Hz)", 10.0, 1.0, 100.0)
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exit(gen.generate(PACKAGE, "tr360_ros", "TR360Config")) |