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lyq 2026-02-28 17:00:02 +08:00
parent c55105c9bf
commit 11a7ee57aa
7 changed files with 234 additions and 2998 deletions
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3026
gps_load_now.txt
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4
routes/gps_load_1772267218953.txt Normal file
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@ -0,0 +1,4 @@
32.0309222090
120.91505759600
170.675995
0.000000

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routes/gps_load_1772267935994.txt Normal file
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32.0310917570
120.91525467400
349.971985
0.000000
32.0311007180
120.91525281000
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120.91524564100
354.537994
0.000000
32.0311374250
120.91524478800
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31
src/common/launch_system/launch/start_all.launch.py
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@ -21,13 +21,22 @@ def generate_launch_description():
respawn_delay=2 respawn_delay=2
), ),
# Node(
# package="radio_ctrl",
# executable="radio_ctrl_node",
# name="radio_ctrl_node",
# output="screen",
# respawn=True,
# respawn_delay=2
# ),
Node( Node(
package="radio_ctrl", package="can_radio_ctrl",
executable="radio_ctrl_node", executable="can_radio_ctrl_node",
name="radio_ctrl_node", name="can_radio_ctrl_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2
), ),
Node( Node(
@ -69,9 +78,7 @@ def generate_launch_description():
IncludeLaunchDescription( IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py") os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
), )
respawn=True,
respawn_delay=2
), ),
Node( Node(
@ -85,9 +92,7 @@ def generate_launch_description():
"rtk_params.yaml" "rtk_params.yaml"
) )
], # 从YAML文件加载参数 ], # 从YAML文件加载参数
output="screen", output="screen"
respawn=True,
respawn_delay=2
), ),
Node( Node(
@ -129,9 +134,7 @@ def generate_launch_description():
IncludeLaunchDescription( IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(fu_path, "launch", "fu.launch.py") os.path.join(fu_path, "launch", "fu.launch.py")
), )
respawn=True,
respawn_delay=2
), ),
] ]
) )

29
src/perception/airy/rslidar_sdk-main/launch/start.py
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@ -1,13 +1,18 @@
from launch import LaunchDescription from launch import LaunchDescription
from launch_ros.actions import Node 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 from ament_index_python.packages import get_package_share_directory
from pathlib import Path
import os
def generate_launch_description(): def generate_launch_description():
pkg_share = get_package_share_directory("rslidar_sdk")
rviz_config = get_package_share_directory("rslidar_sdk") + "/rviz/rviz2.rviz" # RViz 配置文件路径
rviz_config = os.path.join(pkg_share, "rviz", "rviz2.rviz")
config_file = "" # your config file path # 雷达配置文件路径
config_front = os.path.join(pkg_share, "config", "config_front.yaml") # 前雷达
config_rear = os.path.join(pkg_share, "config", "config_rear.yaml") # 后雷达
return LaunchDescription( return LaunchDescription(
[ [
@ -16,13 +21,13 @@ def generate_launch_description():
package="rslidar_sdk", package="rslidar_sdk",
executable="rslidar_sdk_node", executable="rslidar_sdk_node",
output="screen", output="screen",
parameters=[{"config_path": config_file}], parameters=[{"config_path": config_rear}],
),
Node(
namespace="rviz2",
package="rviz2",
executable="rviz2",
arguments=["-d", rviz_config],
), ),
# Node(
# namespace="rviz2",
# package="rviz2",
# executable="rviz2",
# arguments=["-d", rviz_config],
# ),
] ]
) )

21
start_all (copy).sh
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@ -1,22 +1,13 @@
#!/bin/bash #!/bin/bash
set -e set -e
# ===== 环境 ===== # 切换到ROS2工作空间根目录
source /opt/ros/humble/setup.bash # cd /home/nvidia/Downloads/sweeper_200
source /home/nvidia/Downloads/sweeper_200/install/setup.bash
# ===== 信号处理（这是核心）===== # 加载工作空间环境
terminate() { source install/setup.bash
echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
kill -TERM "$ROS2_PID"
wait "$ROS2_PID"
exit 0
}
trap terminate SIGINT SIGTERM # 启动节点
# ===== 启动 launch（前台语义）=====
ros2 launch launch_system start_all.launch.py & ros2 launch launch_system start_all.launch.py &
ROS2_PID=$!
wait "$ROS2_PID" wait

21
start_all.sh
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@ -1,13 +1,22 @@
#!/bin/bash #!/bin/bash
set -e set -e
# 切换到ROS2工作空间根目录 # ===== 环境 =====
# cd /home/nvidia/Downloads/sweeper_200 source /opt/ros/humble/setup.bash
source /home/nvidia/Downloads/sweeper_200/install/setup.bash
# 加载工作空间环境 # ===== 信号处理（这是核心）=====
source install/setup.bash terminate() {
echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
kill -TERM "$ROS2_PID"
wait "$ROS2_PID"
exit 0
}
# 启动节点 trap terminate SIGINT SIGTERM
# ===== 启动 launch（前台语义）=====
ros2 launch launch_system start_all.launch.py & ros2 launch launch_system start_all.launch.py &
ROS2_PID=$!
wait wait "$ROS2_PID"