debug 17

src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py

@@ -10,50 +10,43 @@ def generate_launch_description():
     container = ComposableNodeContainer(
         package="pbox_node",
         executable="pbox_pub",
-            namespace='',
+        namespace="",
         name="pbox_pub",
         output="screen",
-  
         # AG_Pbox 节点运行配置参数
         parameters=[
             # 输出msg类型：ros2标准msg：0 , Asensing msg：1
             # default: 1 Asensing msg
             {"MsgType": 1},
-
             # 连接类型：serial port：0 , UDP：1
             # default: 0 serial port
             {"ConnectionType": 0},
-                
             # 串口设备串  defaule: /dev/ttyUSB0
             {"UART_Port": "/dev/ttyTHS1"},
             # 串口波特率  default: 115200
             {"UART_Baudrate": 115200},
             # latency_timer :1 ~ 16, default:16
             {"USB_LatencyTime": 16},
-
             # UDP addr  default 192.168.225.2
             {"UDP_Addr": "192.168.225.2"},
             # UDP port  default 12300
             {"UDP_Port": 12300},
-
             # IMU BDDB0A协议类型 0：V1.0  1：V2.0----072
             {"ProtocolType": 0},
             # 5503协议：陀螺量程
             {"Grange04": 250.0},
             # AG041协议：加表量程
             {"Arange04": 4.0},
-                
             # 570D协议：陀螺量程
             {"Grange0B": 250.0},
             # 570D协议：加表量程
             {"Arange0B": 4.0},
-
             # 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}
+            {"LogLevel": 1},
         ],
     )
     return launch.LaunchDescription([container])