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[ros2] Fix parameter loading in launch files (VLP16, VLP32C, VLS128)Fix launch file params #556

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[ros2] Fix parameter loading in launch files (VLP16, VLP32C, VLS128)Fix launch file params #556

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e38d0c8
Fix parameter loading in VLP16 launch file
JVALPASS Jan 21, 2025
01be7bf
Fix parameter loading in VLP32C launch file
JVALPASS Jan 21, 2025
5c99ebe
Fix parameter loading in VLS128 launch file
JVALPASS Jan 21, 2025
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8 changes: 6 additions & 2 deletions velodyne_driver/launch/velodyne_driver_node-VLP16-launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
"""Launch the velodyne driver node with default configuration."""

import os

import yaml
import ament_index_python.packages
import launch
import launch_ros.actions
Expand All @@ -43,7 +43,11 @@ def generate_launch_description():
config_directory = os.path.join(
ament_index_python.packages.get_package_share_directory('velodyne_driver'),
'config')
params = os.path.join(config_directory, 'VLP16-velodyne_driver_node-params.yaml')
param_config = os.path.join(config_directory, 'VLP16-velodyne_driver_node-params.yaml')

# Load the parameters from YAML file
with open(param_config, 'r') as f:
params = yaml.safe_load(f)['velodyne_driver_node']['ros__parameters']
velodyne_driver_node = launch_ros.actions.Node(package='velodyne_driver',
executable='velodyne_driver_node',
output='both',
Expand Down
8 changes: 7 additions & 1 deletion velodyne_driver/launch/velodyne_driver_node-VLP32C-launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
"""Launch the velodyne driver node with default configuration."""

import os
import yaml

import ament_index_python.packages
import launch
Expand All @@ -43,7 +44,12 @@ def generate_launch_description():
config_directory = os.path.join(
ament_index_python.packages.get_package_share_directory('velodyne_driver'),
'config')
params = os.path.join(config_directory, 'VLP32C-velodyne_driver_node-params.yaml')
param_config = os.path.join(config_directory, 'VLP32C-velodyne_driver_node-params.yaml')

# Load the parameters from YAML file
with open(param_config, 'r') as f:
params = yaml.safe_load(f)['velodyne_driver_node']['ros__parameters']

velodyne_driver_node = launch_ros.actions.Node(package='velodyne_driver',
executable='velodyne_driver_node',
output='both',
Expand Down
7 changes: 6 additions & 1 deletion velodyne_driver/launch/velodyne_driver_node-VLS128-launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
"""Launch the velodyne driver node with default configuration."""

import os
import yaml

import ament_index_python.packages
import launch
Expand All @@ -43,7 +44,11 @@ def generate_launch_description():
config_directory = os.path.join(
ament_index_python.packages.get_package_share_directory('velodyne_driver'),
'config')
params = os.path.join(config_directory, 'VLS128-velodyne_driver_node-params.yaml')
param_config = os.path.join(config_directory, 'VLS128-velodyne_driver_node-params.yaml')

# Load the parameters from YAML file
with open(param_config, 'r') as f:
params = yaml.safe_load(f)['velodyne_driver_node']['ros__parameters']
velodyne_driver_node = launch_ros.actions.Node(package='velodyne_driver',
executable='velodyne_driver_node',
output='both',
Expand Down