From 37d350dd82400e84f2906a173f3571ad1d924381 Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Mon, 9 Mar 2026 19:08:43 +0800
Subject: [PATCH] format launch file

---
 .../launch_system/launch/start_all.launch.py  | 50 +++++++------------
 1 file changed, 18 insertions(+), 32 deletions(-)

diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py
index b136186..919411b 100644
--- a/src/common/launch_system/launch/start_all.launch.py
+++ b/src/common/launch_system/launch/start_all.launch.py
@@ -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")
                 )
             ),
         ]
-    )
\ No newline at end of file
+    )