117 lines
3.5 KiB
Python
117 lines
3.5 KiB
Python
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# 获取各包的路径
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rslidar_sdk_path = get_package_share_directory("rslidar_sdk")
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fu_path = get_package_share_directory("fu")
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return LaunchDescription(
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[
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# 启动车辆参数节点
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Node(
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package="vehicle_params",
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executable="vehicle_params_node",
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name="vehicle_params_node",
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output="screen",
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),
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# 启动无线电控制节点
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Node(
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package="radio_ctrl",
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executable="radio_ctrl_node",
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name="radio_ctrl_node",
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output="screen",
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),
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# 启动远程控制节点
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Node(
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package="remote_ctrl",
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executable="remote_ctrl_node",
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name="remote_ctrl_node",
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output="screen",
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),
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# 启动MC节点
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Node(
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package="mc",
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executable="mc_node",
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name="mc_node",
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output="screen",
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),
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# 启动控制仲裁节点
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Node(
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package="ctrl_arbiter",
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executable="ctrl_arbiter_node",
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name="ctrl_arbiter_node",
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output="screen",
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),
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# 启动MQTT报告节点
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Node(
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package="mqtt_report",
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executable="mqtt_report_node",
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name="mqtt_report_node",
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output="screen",
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),
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# 启动激光雷达节点（使用现有launch文件）
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
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)
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),
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# 启动RTK节点
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Node(
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package="rtk",
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executable="rtk_node",
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name="rtk_node",
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output="screen",
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),
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# 启动路径节点
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Node(
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package="route",
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executable="route_node",
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name="route_node",
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output="screen",
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),
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# 启动SUB节点
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Node(
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package="sub",
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executable="sub_node",
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name="sub_node",
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output="screen",
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),
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# 启动任务管理器节点
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Node(
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package="task_manager",
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executable="task_manager_node",
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name="task_manager_node",
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output="screen",
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),
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# 启动PL节点
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Node(
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package="pl",
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executable="pl_node",
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name="pl_node",
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output="screen",
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),
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# 启动FU节点（使用现有launch文件）
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(fu_path, "launch", "fu.launch.py")
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)
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),
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]
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)
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