<?xml version="1.0"?> <launch> <!-- Ground segmentation --> <node name="ground_segmentation" pkg="linefit_ground_segmentation_ros" type="ground_segmentation_node"> <rosparam command="load" file="$(find tsukuba2022)/params/segmentation_params.yaml"/> <param name="input_topic" value="/velodyne_points"/> <param name="ground_output_topic" value="/ground_cloud"/> <param name="obstacle_output_topic" value="obstacle_cloud"/> </node> <!-- Convert 3d pointcloud to 2d laserscan --> <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan"> <!--<remap from="cloud_in" to="velodyne_points"/>--> <remap from="cloud_in" to="ground_segmentation/obstacle_cloud"/> <remap from="scan" to="velodyne_scan"/> <rosparam command="load" file="$(find tsukuba2022)/params/pointcloud_to_laserscan_params.yaml"/> </node> <!-- Merge hokuyo_scan & scan from velodyne pointcloud --> <node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger" output="screen"> <param name="destination_frame" value="velodyne_link"/> <param name="scan_destination_topic" value="/scan"/> <param name="cloud_destination_topic" value="/merged_cloud"/> <param name="laserscan_topics" value ="/velodyne_scan /hokuyo_scan" /> <!-- LIST OF THE LASER SCAN TOPICS TO SUBSCRIBE --> <param name="angle_min" value="-2.3565"/> <param name="angle_max" value="2.03565"/> <param name="angle_increment" value="0.008711645"/> <param name="scan_time" value="0.0333333"/> <param name="range_min" value="0.30"/> <param name="range_max" value="50.0"/> </node> </launch>