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Update the executor options and launch args to run with galactic. #2

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Update the executor options and launch args to run with galactic. #2

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14 changes: 7 additions & 7 deletions LeGO-LOAM/launch/run.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,22 +24,22 @@ def generate_launch_description():
# Tf transformations
transform_map = Node(
package='tf2_ros',
node_executable='static_transform_publisher',
node_name='camera_init_to_map',
executable='static_transform_publisher',
name='camera_init_to_map',
arguments=['0', '0', '0', '1.570795', '0', '1.570795', 'map', 'camera_init'],
)

transform_camera = Node(
package='tf2_ros',
node_executable='static_transform_publisher',
node_name='base_link_to_camera',
executable='static_transform_publisher',
name='base_link_to_camera',
arguments=['0', '0', '0', '-1.570795', '-1.570795', '0', 'camera', 'base_link'],
)

# LeGO-LOAM
lego_loam_node = Node(
package='lego_loam_sr',
node_executable='lego_loam_sr',
executable='lego_loam_sr',
output='screen',
parameters=[config_file],
remappings=[('/lidar_points', '/velodyne_points')],
Expand All @@ -48,8 +48,8 @@ def generate_launch_description():
# Rviz
rviz_node = Node(
package='rviz2',
node_executable='rviz2',
node_name='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config],
output='screen'
)
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2 changes: 1 addition & 1 deletion LeGO-LOAM/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ int main(int argc, char** argv) {
RCLCPP_INFO(TF->get_logger(), "\033[1;32m---->\033[0m Started.");

// Use 4 threads
rclcpp::executors::MultiThreadedExecutor executor(rclcpp::executor::create_default_executor_arguments(), 4);
rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 4);
executor.add_node(IP);
executor.add_node(FA);
executor.add_node(MO);
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