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format launch file

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This commit is contained in:
lyq 2026-03-09 19:08:43 +08:00
parent 7d3ecde581
commit 37d350dd82
1 changed files with 18 additions and 32 deletions
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50
src/common/launch_system/launch/start_all.launch.py
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@ -5,11 +5,12 @@ 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(
[
Node(
@ -17,124 +18,109 @@ def generate_launch_description():
executable="vehicle_params_node",
name="vehicle_params_node",
output="screen",
respawn=True,
respawn_delay=2
respawn=True,
respawn_delay=2,
),
# Node(
# package="radio_ctrl",
# executable="radio_ctrl_node",
# name="radio_ctrl_node",
# output="screen",
# respawn=True,
# respawn_delay=2
# respawn_delay=2,
# ),
Node(
package="can_radio_ctrl",
executable="can_radio_ctrl_node",
name="can_radio_ctrl_node",
output="screen",
respawn=True,
respawn_delay=2
respawn=True,
respawn_delay=2,
),
Node(
package="remote_ctrl",
executable="remote_ctrl_node",
name="remote_ctrl_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
Node(
package="mc",
executable="mc_node",
name="mc_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
Node(
package="ctrl_arbiter",
executable="ctrl_arbiter_node",
name="ctrl_arbiter_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
Node(
package="mqtt_report",
executable="mqtt_report_node",
name="mqtt_report_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
)
),
Node(
package="rtk",
executable="rtk_node",
name="rtk_node",
parameters=[
os.path.join(
get_package_share_directory("rtk"),
"config",
"rtk_params.yaml"
get_package_share_directory("rtk"), "config", "rtk_params.yaml"
)
], # 从YAML文件加载参数
output="screen"
output="screen",
),
Node(
package="route",
executable="route_node",
name="route_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
Node(
package="sub",
executable="sub_node",
name="sub_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
Node(
package="task_manager",
executable="task_manager_node",
name="task_manager_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
Node(
package="pl",
executable="pl_node",
name="pl_node",
output="screen",
respawn=True,
respawn_delay=2
respawn_delay=2,
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(fu_path, "launch", "fu.launch.py")
)
),
]
)
)