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launch文件节点之间增加时间间隔

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lyq 2026-03-26 14:37:28 +08:00
parent fa8907ca6a
commit 012f9a608a
1 changed files with 188 additions and 111 deletions
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297
src/common/launch_system/launch/start_all.launch.py
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@ -1,6 +1,6 @@
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from launch.actions import IncludeLaunchDescription, TimerAction
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
import os
@ -11,116 +11,193 @@ def generate_launch_description():
rslidar_sdk_path = get_package_share_directory("rslidar_sdk")
fu_path = get_package_share_directory("fu")
# ===================== 按顺序延时启动所有节点 =====================
# 1. 车辆参数节点 (立即启动)
vehicle_params_node = Node(
package="vehicle_params",
executable="vehicle_params_node",
name="vehicle_params_node",
output="screen",
respawn=True,
respawn_delay=2,
)
# 2. CAN遥控节点 (延时0.2s)
can_radio_ctrl_node = TimerAction(
period=0.2,
actions=[Node(
package="can_radio_ctrl",
executable="can_radio_ctrl_node",
name="can_radio_ctrl_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# Node(
# package="radio_ctrl",
# executable="radio_ctrl_node",
# name="radio_ctrl_node",
# output="screen",
# respawn=True,
# respawn_delay=2,
# ),
# 3. 远程控制节点 (延时0.4s)
remote_ctrl_node = TimerAction(
period=0.4,
actions=[Node(
package="remote_ctrl",
executable="remote_ctrl_node",
name="remote_ctrl_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 4. MC电机控制节点 (延时0.6s)
mc_node = TimerAction(
period=0.6,
actions=[Node(
package="mc",
executable="mc_node",
name="mc_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 5. 控制仲裁节点 (延时0.8s)
ctrl_arbiter_node = TimerAction(
period=0.8,
actions=[Node(
package="ctrl_arbiter",
executable="ctrl_arbiter_node",
name="ctrl_arbiter_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 6. MQTT上报节点 (延时1.0s) —— 【关键：必须最后启动】
mqtt_report_node = TimerAction(
period=1.0,
actions=[Node(
package="mqtt_report",
executable="mqtt_report_node",
name="mqtt_report_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 7. 雷达启动 (延时1.5s)
lidar_launch = TimerAction(
period=1.5,
actions=[IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
)
)]
)
# 8. RTK定位节点 (延时2.0s)
rtk_node = TimerAction(
period=2.0,
actions=[Node(
package="rtk",
executable="rtk_node",
name="rtk_node",
parameters=[
os.path.join(
get_package_share_directory("rtk"), "config", "rtk_params.yaml"
)
],
output="screen",
)]
)
# 9. 路径节点 (延时2.5s)
route_node = TimerAction(
period=2.5,
actions=[Node(
package="route",
executable="route_node",
name="route_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 10. 订阅节点 (延时3.0s)
sub_node = TimerAction(
period=3.0,
actions=[Node(
package="sub",
executable="sub_node",
name="sub_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 11. 任务管理节点 (延时3.5s)
task_manager_node = TimerAction(
period=3.5,
actions=[Node(
package="task_manager",
executable="task_manager_node",
name="task_manager_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 12. 规划控制节点 (延时4.0s)
pl_node = TimerAction(
period=4.0,
actions=[Node(
package="pl",
executable="pl_node",
name="pl_node",
output="screen",
respawn=True,
respawn_delay=2,
)]
)
# 13. FU功能节点 (延时4.5s)
fu_launch = TimerAction(
period=4.5,
actions=[IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(fu_path, "launch", "fu.launch.py")
)
)]
)
# ===================== 组装启动列表 =====================
return LaunchDescription(
[
Node(
package="vehicle_params",
executable="vehicle_params_node",
name="vehicle_params_node",
output="screen",
respawn=True,
respawn_delay=2,
),
# Node(
# package="radio_ctrl",
# executable="radio_ctrl_node",
# name="radio_ctrl_node",
# output="screen",
# respawn=True,
# respawn_delay=2,
# ),
Node(
package="can_radio_ctrl",
executable="can_radio_ctrl_node",
name="can_radio_ctrl_node",
output="screen",
respawn=True,
respawn_delay=2,
),
Node(
package="remote_ctrl",
executable="remote_ctrl_node",
name="remote_ctrl_node",
output="screen",
respawn=True,
respawn_delay=2,
),
Node(
package="mc",
executable="mc_node",
name="mc_node",
output="screen",
respawn=True,
respawn_delay=2,
),
Node(
package="ctrl_arbiter",
executable="ctrl_arbiter_node",
name="ctrl_arbiter_node",
output="screen",
respawn=True,
respawn_delay=2,
),
Node(
package="mqtt_report",
executable="mqtt_report_node",
name="mqtt_report_node",
output="screen",
respawn=True,
respawn_delay=2,
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
)
),
Node(
package="rtk",
executable="rtk_node",
name="rtk_node",
parameters=[
os.path.join(
get_package_share_directory("rtk"), "config", "rtk_params.yaml"
)
], # 从YAML文件加载参数
output="screen",
),
Node(
package="route",
executable="route_node",
name="route_node",
output="screen",
respawn=True,
respawn_delay=2,
),
Node(
package="sub",
executable="sub_node",
name="sub_node",
output="screen",
respawn=True,
respawn_delay=2,
),
Node(
package="task_manager",
executable="task_manager_node",
name="task_manager_node",
output="screen",
respawn=True,
respawn_delay=2,
),
Node(
package="pl",
executable="pl_node",
name="pl_node",
output="screen",
respawn=True,
respawn_delay=2,
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(fu_path, "launch", "fu.launch.py")
)
),
vehicle_params_node,
can_radio_ctrl_node,
remote_ctrl_node,
mc_node,
ctrl_arbiter_node,
mqtt_report_node,
lidar_launch,
rtk_node,
route_node,
sub_node,
task_manager_node,
pl_node,
fu_launch,
]
)