velodyne_VLS128.launch.xml

<launch>

  <!-- Params -->
  <arg name="launch_driver" default="true"/>

  <arg name="model" default="VLS128"/>
  <arg name="max_range" default="250.0"/>
  <arg name="min_range" default="0.5"/>
  <arg name="sensor_frame" default="velodyne"/>
  <arg name="return_mode" default="SingleStrongest"/>
  <arg name="sensor_ip" default="192.168.1.201"/>
  <arg name="host_ip" default="255.255.255.255"/>
  <arg name="data_port" default="2368"/>
  <arg name="scan_phase" default="0.0"/>
  <arg name="cloud_min_angle" default="0"/>
  <arg name="cloud_max_angle" default="360"/>
  <arg name="vehicle_mirror_param_file"/>
  <arg name="container_name" default="velodyne_node_container"/>

  <include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
    <arg name="launch_driver" value="$(var launch_driver)"/>
    <arg name="sensor_model" value="$(var model)"/>
    <arg name="return_mode" value="$(var return_mode)"/>
    <arg name="max_range" value="$(var max_range)"/>
    <arg name="min_range" value="$(var min_range)"/>
    <arg name="frame_id" value="$(var sensor_frame)"/>
    <arg name="sensor_ip" value="$(var sensor_ip)"/>
    <arg name="host_ip" value="$(var host_ip)"/>
    <arg name="data_port" value="$(var data_port)"/>
    <arg name="scan_phase" value="$(var scan_phase)"/>
    <arg name="cloud_min_angle" value="$(var cloud_min_angle)"/>
    <arg name="cloud_max_angle" value="$(var cloud_max_angle)"/>
    <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
    <arg name="use_intra_process" value="true"/>
    <arg name="use_multithread" value="true"/>
    <arg name="container_name" value="$(var container_name)"/>
  </include>

  <!-- Velodyne Monitor -->
  <include file="$(find-pkg-share velodyne_monitor)/launch/velodyne_monitor.launch.xml" if="$(var launch_driver)">
    <arg name="ip_address" value="$(var sensor_ip)"/>
  </include>

</launch>