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E Basic startup for dummies
horverno edited this page Mar 19, 2021
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The following steps will startup Nissan Leaf, from a head start.
You have numerous possibilities to bringup the sensor-actuation synergy of the car. To start every sensor (2 Ouster, 2 Velodyne LIDAR, ZED camera, CAN), launch the following:
roslaunch nissan_bringup nissan.leaf.bringup.2020.A.launch
No problem, this is possible. Start the static transform publishers (it will publish all sensor static transformations, it should not cause any problem):
roslaunch nissan_bringup tf_nissanleaf_statictf.launch
Then select the LIDAR launch file, you intend to launch! For example, Ouster LIDAR with our previously defined parameters:
roslaunch nissan_bringup ouster_left.launch
Of course, if you need both OS1 lidars, you can use the following launch file:
roslaunch nissan_bringup ouster_two_lidar.launch
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