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Commit af15355a authored by Tommy Persson's avatar Tommy Persson
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Work on ros2

parent 447d04f5
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......@@ -43,6 +43,12 @@
</include>
</group>
<group if="$(eval arg('vehicle') == 'leo')">
<include file="$(find lrs_launch)/launch/wdb.launch" pass_all_args="true">
<arg name="wdb" value="true" />
</include>
</group>
<group if="$(eval arg('vehicle') == 'human')">
<include file="$(find lrs_launch)/launch/wdb.launch" pass_all_args="true">
<arg name="wdb" value="true" />
......@@ -77,6 +83,13 @@
<node name="lrs_geo_to_local" pkg="lrs_util" type="lrs_geo_to_local" args="_auto_connect:=true" />
<node name="signalserver" pkg="lrs_signal" type="signalserver" />
<group if="$(eval arg('vehicle') == 'leo')">
<node name="com_manager_one_core" pkg="lrs_com_manager" type="com_manager_one_core" unless="$(arg multicore)">
<param name="data_stride" value="$(arg data_stride)" />
<param name="image_stride" value="$(arg image_stride)" />
</node>
</group>
<group if="$(eval arg('vehicle') == 'api')">
<node name="com_manager_one_core" pkg="lrs_com_manager" type="com_manager_one_core" unless="$(arg multicore)">
<param name="data_stride" value="$(arg data_stride)" />
......@@ -130,7 +143,7 @@
<node name="virtual_camera_url" pkg="rostopic" type="rostopic" args="pub -r 1 sensor/virtual_camera_url std_msgs/String $(arg virtual_camera_url)" />
<node name="sensor_object_detection" pkg="rostopic" type="rostopic" args="pub sensor/image_detections_url std_msgs/String /gpu2/sensor/image_detections_url -r 1" />
</group>
</group>
</launch>
\ No newline at end of file
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