From 0939e19f3b47043f0712f0f82afe71d71946636d Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Fri, 30 Jan 2026 09:07:15 +0800
Subject: [PATCH] =?UTF-8?q?launch=E5=8C=85?=
MIME-Version: 1.0
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---
 src/common/launch_system/CMakeLists.txt       |  32 +++++
 .../launch_system/launch/start_all.launch.py  | 117 ++++++++++++++++++
 src/common/launch_system/package.xml          |  33 +++++
 3 files changed, 182 insertions(+)
 create mode 100644 src/common/launch_system/CMakeLists.txt
 create mode 100644 src/common/launch_system/launch/start_all.launch.py
 create mode 100644 src/common/launch_system/package.xml

diff --git a/src/common/launch_system/CMakeLists.txt b/src/common/launch_system/CMakeLists.txt
new file mode 100644
index 0000000..5270001
--- /dev/null
+++ b/src/common/launch_system/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(launch_system)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(vehicle_params REQUIRED)
+find_package(radio_ctrl REQUIRED)
+find_package(remote_ctrl REQUIRED)
+find_package(mc REQUIRED)
+find_package(ctrl_arbiter REQUIRED)
+find_package(mqtt_report REQUIRED)
+find_package(rslidar_sdk REQUIRED)
+find_package(rtk REQUIRED)
+find_package(route REQUIRED)
+find_package(sub REQUIRED)
+find_package(task_manager REQUIRED)
+find_package(pl REQUIRED)
+find_package(fu REQUIRED)
+
+# Install launch files
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()
\ No newline at end of file
diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py
new file mode 100644
index 0000000..2c41612
--- /dev/null
+++ b/src/common/launch_system/launch/start_all.launch.py
@@ -0,0 +1,117 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+    # 获取各包的路径
+    rslidar_sdk_path = get_package_share_directory("rslidar_sdk")
+    fu_path = get_package_share_directory("fu")
+    
+    return LaunchDescription(
+        [
+            # 启动车辆参数节点
+            Node(
+                package="vehicle_params",
+                executable="vehicle_params_node",
+                name="vehicle_params_node",
+                output="screen",
+            ),
+            
+            # 启动无线电控制节点
+            Node(
+                package="radio_ctrl",
+                executable="radio_ctrl_node",
+                name="radio_ctrl_node",
+                output="screen",
+            ),
+            
+            # 启动远程控制节点
+            Node(
+                package="remote_ctrl",
+                executable="remote_ctrl_node",
+                name="remote_ctrl_node",
+                output="screen",
+            ),
+            
+            # 启动MC节点
+            Node(
+                package="mc",
+                executable="mc_node",
+                name="mc_node",
+                output="screen",
+            ),
+            
+            # 启动控制仲裁节点
+            Node(
+                package="ctrl_arbiter",
+                executable="ctrl_arbiter_node",
+                name="ctrl_arbiter_node",
+                output="screen",
+            ),
+            
+            # 启动MQTT报告节点
+            Node(
+                package="mqtt_report",
+                executable="mqtt_report_node",
+                name="mqtt_report_node",
+                output="screen",
+            ),
+            
+            # 启动激光雷达节点（使用现有launch文件）
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
+                )
+            ),
+            
+            # 启动RTK节点
+            Node(
+                package="rtk",
+                executable="rtk_node",
+                name="rtk_node",
+                output="screen",
+            ),
+            
+            # 启动路径节点
+            Node(
+                package="route",
+                executable="route_node",
+                name="route_node",
+                output="screen",
+            ),
+            
+            # 启动SUB节点
+            Node(
+                package="sub",
+                executable="sub_node",
+                name="sub_node",
+                output="screen",
+            ),
+            
+            # 启动任务管理器节点
+            Node(
+                package="task_manager",
+                executable="task_manager_node",
+                name="task_manager_node",
+                output="screen",
+            ),
+            
+            # 启动PL节点
+            Node(
+                package="pl",
+                executable="pl_node",
+                name="pl_node",
+                output="screen",
+            ),
+            
+            # 启动FU节点（使用现有launch文件）
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(fu_path, "launch", "fu.launch.py")
+                )
+            ),
+        ]
+    )
\ No newline at end of file
diff --git a/src/common/launch_system/package.xml b/src/common/launch_system/package.xml
new file mode 100644
index 0000000..7350f03
--- /dev/null
+++ b/src/common/launch_system/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>launch_system</name>
+  <version>0.0.0</version>
+  <description>Launch system for sweeper_200</description>
+  <maintainer email="user@example.com">User</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>vehicle_params</depend>
+  <depend>radio_ctrl</depend>
+  <depend>remote_ctrl</depend>
+  <depend>mc</depend>
+  <depend>ctrl_arbiter</depend>
+  <depend>mqtt_report</depend>
+  <depend>rslidar_sdk</depend>
+  <depend>rtk</depend>
+  <depend>route</depend>
+  <depend>sub</depend>
+  <depend>task_manager</depend>
+  <depend>pl</depend>
+  <depend>fu</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
\ No newline at end of file