From b998a49f6530567d118c8e6fd1fc9acf68b3f6af Mon Sep 17 00:00:00 2001
From: Rene Ebeling <rene.ebeling@alumni.fh-aachen.de>
Date: Fri, 16 May 2025 11:09:05 +0200
Subject: [PATCH] Add usb_port parameter declaration in serial_to_pcl_node
---
README.md | 1 +
.../src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py | 3 ++-
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/README.md b/README.md
index e0e9922..07bd988 100644
--- a/README.md
+++ b/README.md
@@ -120,6 +120,7 @@ Make sure to connect the **SCL** and **SDA** lines for I2C communication, as wel
performance.
## How It Works
+ -
```bash
ros2 run serial_to_pcl serial_to_pcl_node
```
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
index 10b254e..d90094a 100644
--- a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
@@ -31,7 +31,8 @@ class SerialListPublisher(Node):
super().__init__('serial_to_pcl_node') # Initialize the ROS 2 node with a name
self.declare_parameter('parent_frame', 'vl53l7cx_link') # Declare a parameter for the parent frame
self.parent_frame = self.get_parameter('parent_frame').get_parameter_value().string_value # Get the parameter value
-
+ self.declare_parameter('usb_port', serial_port)
+ serial_port = self.get_parameter('usb_port').get_parameter_value().string_value
# Create a publisher for PointCloud2 messages
self.pcd_publisher = self.create_publisher(PointCloud2, 'pcl', 10)
--
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