chore(nebula_ros/launch): make sensor_models enum choices for the `se…

…nsor_model` launch argument (#189)
tier4 · Sep 6, 2024 · 7b429cb · 7b429cb
1 parent 62a7406
commit 7b429cb
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Showing 4 changed files with 23 additions and 4 deletions.
diff --git a/nebula_ros/launch/continental_launch_all_hw.xml b/nebula_ros/launch/continental_launch_all_hw.xml
@@ -1,6 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="sensor_model" default="ARS548"/>
+    <arg name="sensor_model">
+        <choice value="ARS548" />
+        <choice value="SRR520" />
+    </arg>
     <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/radar/continental/$(var sensor_model).param.yaml"/>
 
     <arg name="odometry_topic" default="odometry_input"/>

diff --git a/nebula_ros/launch/hesai_launch_all_hw.xml b/nebula_ros/launch/hesai_launch_all_hw.xml
@@ -1,6 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="sensor_model" description="Pandar64|Pandar40P|PandarXT32|PandarXT32M|PandarAT128|PandarQT64|PandarQT128|Pandar128E4X"/>
+  <arg name="sensor_model">
+    <choice value="Pandar40P" />
+    <choice value="Pandar64" />
+    <choice value="Pandar128E4X" />
+    <choice value="PandarAT128" />
+    <choice value="PandarQT64" />
+    <choice value="PandarQT128" />
+    <choice value="PandarXT32" />
+    <choice value="PandarXT32M" />
+  </arg>
   <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/hesai/$(var sensor_model).param.yaml"/>
 
   <node pkg="nebula_ros" exec="hesai_ros_wrapper_node" name="hesai_ros_wrapper_node" output="screen">

diff --git a/nebula_ros/launch/robosense_launch_all_hw.xml b/nebula_ros/launch/robosense_launch_all_hw.xml
@@ -1,6 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="sensor_model" description="Helios|Bpearl"/>
+  <arg name="sensor_model">
+    <choice value="Helios" />
+    <choice value="Bpearl" />
+  </arg>
   <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/robosense/$(var sensor_model).param.yaml"/>
 
   <node pkg="nebula_ros" exec="robosense_ros_wrapper_node" name="robosense_ros_wrapper_node" output="screen">

diff --git a/nebula_ros/launch/velodyne_launch_all_hw.xml b/nebula_ros/launch/velodyne_launch_all_hw.xml
@@ -1,6 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="sensor_model" description="VLP16|VLP32|VLS128"/>
+  <arg name="sensor_model">
+    <choice value="VLP16" />
+    <choice value="VLP32" />
+    <choice value="VLS128" />
+  </arg>
   <arg name="config_file" default="$(find-pkg-share nebula_ros)/config/lidar/velodyne/$(var sensor_model).param.yaml"/>
 
   <node pkg="nebula_ros" exec="velodyne_ros_wrapper_node" name="velodyne_ros_wrapper_node" output="screen">