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Add namespace support to hls launch file #46

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Add namespace support to hls launch file #46

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6 changes: 6 additions & 0 deletions launch/hlds_laser.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,7 @@ def generate_launch_description():
port = LaunchConfiguration('port', default='/dev/ttyUSB0')

frame_id = LaunchConfiguration('frame_id', default='laser')
namespace = LaunchConfiguration('namespace')

return LaunchDescription([

Expand All @@ -38,6 +39,10 @@ def generate_launch_description():
default_value=port,
description='Specifying usb port to connected lidar'),

DeclareLaunchArgument(
'namespace', default_value='',
description='Top-level namespace'),

DeclareLaunchArgument(
'frame_id',
default_value=frame_id,
Expand All @@ -46,6 +51,7 @@ def generate_launch_description():
Node(
package='hls_lfcd_lds_driver',
node_executable='hlds_laser_publisher',
node_namespace=namespace,
node_name='hlds_laser_publisher',
parameters=[{'port': port, 'frame_id': frame_id}],
output='screen'),
Expand Down