v0.2.0

launch/cyglidar.launch

@@ -1,6 +1,6 @@
 <launch>
   <!-- Arguments -->
-  <arg name="version" default="2" doc="version type [0, 1, 2]"/>
+  <arg name="version" default="2" doc="version type [0, 1, 2]"/> <!-- 0: 2D, 1: 3D, 2: Dual -->
   <arg name="frequency_level" default="0" doc="level [0 to 15]"/>
   <arg name="pulse_control" default="0" doc="pulse mode [0, 1]"/> <!-- 0: Auto, 1: Manual -->
   <arg name="pulse_duration" default="10000" doc="duration [0 to 10000]"/>
@@ -10,13 +10,12 @@
     <param name="baud_rate" value="3000000"/>
     <param name="frame_id" value="laser_link"/>
     <param name="fixed_frame" value="/map"/>
-
-    <param name="version" value="$(arg version)"/>
+    <param name="run_mode" value="$(arg version)"/>
     <param name="frequency" value="$(arg frequency_level)"/>
-    <param name="pulse_control" value="$(arg pulse_control)"/>
+    <param name="set_auto_duration" value="$(arg pulse_control)"/>
     <param name="duration" value="$(arg pulse_duration)"/>
   </node>
 
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find cyglidar_d1)/rviz/cyglidar_config.rviz"/>
   <node pkg="tf" type="static_transform_publisher" name="to_laserlink" args="0 0 0 0 0 0 1 map laser_link 10"/>
-</launch>
+</launch>

src/cyglidar_pcl_publisher.cpp

@@ -2,6 +2,8 @@
 #include "PointCloudMaker.h"
 #include "Constants_CygLiDAR_D1.h"
 
+int RunMode;        // select run mode {2D(0), 3D(1), Dual(2)}
+int setAutoDuration; // select Auto (1) or Fixed(0)
 int DATABUFFER_SIZE_2D, DATABUFFER_SIZE_3D, DATASET_SIZE_2D, DATASET_SIZE_3D;
 
 typedef pcl::PointCloud<pcl::PointXYZRGBA> PointXYZRGBA;
@@ -233,7 +235,7 @@ void cloudScatter_3D()
     }
 }
 
-int VERSION_NUM, FREQUENCY_LEVEL, PULSE_CONTROL, PULSE_DURATION;
+int FREQUENCY_LEVEL, PULSE_DURATION;
 void running()
 {
     // Create node handlers and local variables
@@ -249,15 +251,33 @@ void running()
     priv_nh.param("baud_rate", baud_rate, 3000000);
     priv_nh.param("frame_id", frame_id, std::string("laser_link"));
 
-    priv_nh.param("version", VERSION_NUM, 0);
+    priv_nh.param("run_mode", RunMode, 0);
     priv_nh.param("frequency", FREQUENCY_LEVEL, 0);
-    priv_nh.param("pulse_control", PULSE_CONTROL, 0);
+    priv_nh.param("set_auto_duration", setAutoDuration, 0);
     priv_nh.param("duration", PULSE_DURATION, 0);
 
+    // injection run mode
+    eRunMode LiDAR_RunMode;
+    switch(RunMode)
+    {
+        case 0:
+        LiDAR_RunMode = eRunMode::Mode2D;
+        break;
+        case 1:
+        LiDAR_RunMode = eRunMode::Mode3D;
+        break;
+        case 2:
+        LiDAR_RunMode = eRunMode::ModeDual;
+        break;
+        default:
+        LiDAR_RunMode = eRunMode::Mode3D;
+        break;
+    }
+
     // Check whether the values are applied properly
     ROS_INFO("FREQUENCY: %d (%x) / PULSE CONTROL: %d, DURATION: %d (%x)", \
     FREQUENCY_LEVEL, FREQUENCY_LEVEL, \
-    PULSE_CONTROL, PULSE_DURATION, PULSE_DURATION);
+    setAutoDuration, PULSE_DURATION, PULSE_DURATION);
 
     // Call the following function so as to store colors to draw 3D data
     colorBuffer();
@@ -309,11 +329,11 @@ void running()
         cyglidar_pcl laser(port, baud_rate, io);
 
         // Send packets
-        laser.packet_run(eRunMode::ModeDual);
+        laser.packet_run(LiDAR_RunMode);
         ros::Duration(1.0).sleep();         // sleep for a sec, by the duration
         laser.packet_frequency(FREQUENCY_LEVEL);
         ros::Duration(1.0).sleep();
-        laser.packet_duration(eRunMode::Mode3D, PULSE_CONTROL, PULSE_DURATION);
+        laser.packet_duration(LiDAR_RunMode, setAutoDuration, PULSE_DURATION);
 
         // Create variables used to organize data before drawing
         int DATA_1 = 4, DATA_2 = 3;