launch包
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32
src/common/launch_system/CMakeLists.txt
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32
src/common/launch_system/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
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project(launch_system)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(vehicle_params REQUIRED)
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find_package(radio_ctrl REQUIRED)
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find_package(remote_ctrl REQUIRED)
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find_package(mc REQUIRED)
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find_package(ctrl_arbiter REQUIRED)
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find_package(mqtt_report REQUIRED)
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find_package(rslidar_sdk REQUIRED)
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find_package(rtk REQUIRED)
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find_package(route REQUIRED)
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find_package(sub REQUIRED)
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find_package(task_manager REQUIRED)
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find_package(pl REQUIRED)
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find_package(fu REQUIRED)
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# Install launch files
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install(DIRECTORY
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launch
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config
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DESTINATION share/${PROJECT_NAME}/
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)
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ament_package()
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117
src/common/launch_system/launch/start_all.launch.py
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117
src/common/launch_system/launch/start_all.launch.py
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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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33
src/common/launch_system/package.xml
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33
src/common/launch_system/package.xml
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>launch_system</name>
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<version>0.0.0</version>
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<description>Launch system for sweeper_200</description>
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<maintainer email="user@example.com">User</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake_python</buildtool_depend>
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<depend>vehicle_params</depend>
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<depend>radio_ctrl</depend>
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<depend>remote_ctrl</depend>
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<depend>mc</depend>
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<depend>ctrl_arbiter</depend>
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<depend>mqtt_report</depend>
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<depend>rslidar_sdk</depend>
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<depend>rtk</depend>
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<depend>route</depend>
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<depend>sub</depend>
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<depend>task_manager</depend>
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<depend>pl</depend>
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<depend>fu</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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