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Handle TurtleBot3 Gazebo perception input

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chyoo
2026-08-06 18:28:22 +09:00
parent ee56703ea2
commit a1e0abb7fd
1 changed files with 4 additions and 0 deletions
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src/perception_pkg/perception_pkg/launch_spec.py
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@@ -6,6 +6,10 @@ def build_perception_commands(config):
level = config.get("level") level = config.get("level")
robot = config.get("robot", "") robot = config.get("robot", "")
sim_mode = str(config.get("sim_mode", False)).lower() sim_mode = str(config.get("sim_mode", False)).lower()
# Gazebo's TurtleBot3 model publishes LaserScan directly. Launching the
# pointcloud conversion stack here is both redundant and unsupported.
if sim_mode == "true" and robot == "turtlebot3":
return cmds
if level and level != "None": if level and level != "None":
cmds.append(["ros2", "launch", f"perception{level}_pkg", cmds.append(["ros2", "launch", f"perception{level}_pkg",
"perception.launch.py", f"robot:={robot}", f"sim_mode:={sim_mode}"]) "perception.launch.py", f"robot:={robot}", f"sim_mode:={sim_mode}"])