src/perception/segmentation/apollo_lidar_segmentation_nodes/launch/lidar_segmentation.launch.py
def generate_launch_description():
    """Launch lidar segmentation and ray ground classifier nodes."""
    # ray ground classifier parameter file definition.
    vlp16_lexus_ray_ground_file_path = os.path.join(
        get_package_share_directory('ray_ground_classifier_nodes'),
        'param',
        'vlp16_lexus.param.yaml')
    ray_ground_param_file = launch.substitutions.LaunchConfiguration(
        'params', default=[vlp16_lexus_ray_ground_file_path])

    # lidar segmentation node execution definition.
    apollo_lidar_segmentation_node_runner = launch_ros.actions.Node(
        package='apollo_lidar_segmentation_nodes',
        executable='apollo_lidar_segmentation_nodes_exe',
        remappings=[("points_in", "points_nonground")])

    # ros1 bridge runner definition.
    ray_ground_runner = launch_ros.actions.Node(
        package='ray_ground_classifier_nodes',
        executable='ray_ground_classifier_cloud_node_exe',
        parameters=[ray_ground_param_file],
        remappings=[("points_in", "lidar_front/points_filtered")])

    return launch.LaunchDescription([
        apollo_lidar_segmentation_node_runner,
        ray_ground_runner])
Launch lidar segmentation and ray ground classifier nodes.
Launch lidar segmentation and ray ground classifier nodes.
Launch lidar segmentation and ray ground classifier nodes .
def generate_launch_description():
    vlp16_lexus_ray_ground_file_path = os.path.join(
        get_package_share_directory('ray_ground_classifier_nodes'),
        'param',
        'vlp16_lexus.param.yaml')
    ray_ground_param_file = launch.substitutions.LaunchConfiguration(
        'params', default=[vlp16_lexus_ray_ground_file_path])
    apollo_lidar_segmentation_node_runner = launch_ros.actions.Node(
        package='apollo_lidar_segmentation_nodes',
        executable='apollo_lidar_segmentation_nodes_exe',
        remappings=[("points_in", "points_nonground")])
    ray_ground_runner = launch_ros.actions.Node(
        package='ray_ground_classifier_nodes',
        executable='ray_ground_classifier_cloud_node_exe',
        parameters=[ray_ground_param_file],
        remappings=[("points_in", "lidar_front/points_filtered")])
    return launch.LaunchDescription([
        apollo_lidar_segmentation_node_runner,
        ray_ground_runner])
def generate_launch_description ( ) : vlp16_lexus_ray_ground_file_path = os . path . join ( get_package_share_directory ( 'ray_ground_classifier_nodes' ) , 'param' , 'vlp16_lexus.param.yaml' ) ray_ground_param_file = launch . substitutions . LaunchConfiguration ( 'params' , default = [ vlp16_lexus_ray_ground_file_path ] ) apollo_lidar_segmentation_node_runner = launch_ros . actions . Node ( package = 'apollo_lidar_segmentation_nodes' , executable = 'apollo_lidar_segmentation_nodes_exe' , remappings = [ ( "points_in" , "points_nonground" ) ] ) ray_ground_runner = launch_ros . actions . Node ( package = 'ray_ground_classifier_nodes' , executable = 'ray_ground_classifier_cloud_node_exe' , parameters = [ ray_ground_param_file ] , remappings = [ ( "points_in" , "lidar_front/points_filtered" ) ] ) return launch . LaunchDescription ( [ apollo_lidar_segmentation_node_runner , ray_ground_runner ] )
Launch lidar segmentation and ray ground classifier nodes.
Launch lidar segmentation and ray ground classifier nodes .
"""Launch lidar segmentation and ray ground classifier nodes.""" # ray ground classifier parameter file definition. # lidar segmentation node execution definition. # ros1 bridge runner definition.