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Alvin-lyq 2026-04-29 15:03:44 +08:00
parent d75337560a
commit 31faa9e9df
1 changed files with 44 additions and 51 deletions
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87
src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py
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@ -8,52 +8,45 @@ from launch_ros.descriptions import ComposableNode
def generate_launch_description(): def generate_launch_description():
"""Generate launch description with multiple components.""" """Generate launch description with multiple components."""
container = ComposableNodeContainer( container = ComposableNodeContainer(
package="pbox_node", package="pbox_node",
executable="pbox_pub", executable="pbox_pub",
namespace='', namespace="",
name="pbox_pub", name="pbox_pub",
output="screen", output="screen",
# AG_Pbox 节点运行配置参数
#AG_Pbox 节点运行配置参数 parameters=[
parameters=[ # 输出msg类型：ros2标准msg：0 , Asensing msg：1
#输出msg类型：ros2标准msg：0 , Asensing msg：1 # default: 1 Asensing msg
#default: 1 Asensing msg {"MsgType": 1},
{"MsgType": 1}, # 连接类型：serial port：0 , UDP：1
# default: 0 serial port
#连接类型：serial port：0 , UDP：1 {"ConnectionType": 0},
#default: 0 serial port # 串口设备串 defaule: /dev/ttyUSB0
{"ConnectionType": 0}, {"UART_Port": "/dev/ttyTHS1"},
# 串口波特率 default: 115200
#串口设备串 defaule: /dev/ttyUSB0 {"UART_Baudrate": 115200},
{"UART_Port": "/dev/ttyTHS1"}, # latency_timer :1 ~ 16, default:16
#串口波特率 default: 115200 {"USB_LatencyTime": 16},
{"UART_Baudrate": 115200}, # UDP addr default 192.168.225.2
#latency_timer :1 ~ 16, default:16 {"UDP_Addr": "192.168.225.2"},
{"USB_LatencyTime": 16}, # UDP port default 12300
{"UDP_Port": 12300},
#UDP addr default 192.168.225.2 # IMU BDDB0A协议类型 0：V1.0 1：V2.0----072
{"UDP_Addr": "192.168.225.2"}, {"ProtocolType": 0},
#UDP port default 12300 # 5503协议：陀螺量程
{"UDP_Port": 12300}, {"Grange04": 250.0},
# AG041协议：加表量程
#IMU BDDB0A协议类型 0：V1.0 1：V2.0----072 {"Arange04": 4.0},
{"ProtocolType":0}, # 570D协议：陀螺量程
#5503协议：陀螺量程 {"Grange0B": 250.0},
{"Grange04": 250.0}, # 570D协议：加表量程
#AG041协议：加表量程 {"Arange0B": 4.0},
{"Arange04": 4.0}, # 设置日志文件路径和文件名
# default: close
#570D协议：陀螺量程 {"LogInfo": "./debug.log"},
{"Grange0B": 250.0}, # 设置日志打印等级：DEBUG:0 (save imu rawdata),INFO:1,WARNING:2,ERROR:3,FATAL:4
#570D协议：加表量程 # default:INFO
{"Arange0B": 4.0}, {"LogLevel": 1},
],
#设置日志文件路径和文件名
#default: close
{"LogInfo":"./debug.log"},
#设置日志打印等级：DEBUG:0 (save imu rawdata),INFO:1,WARNING:2,ERROR:3,FATAL:4
#default:INFO
{"LogLevel":0}
],
) )
return launch.LaunchDescription([container]) return launch.LaunchDescription([container])