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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 from ament_index_python.packages import get_package_share_directory
import os import os
def generate_launch_description(): def generate_launch_description():
# 获取各包的路径 # 获取各包的路径
rslidar_sdk_path = get_package_share_directory("rslidar_sdk") rslidar_sdk_path = get_package_share_directory("rslidar_sdk")
fu_path = get_package_share_directory("fu") fu_path = get_package_share_directory("fu")
return LaunchDescription( return LaunchDescription(
[ [
Node( Node(
@ -17,124 +18,109 @@ def generate_launch_description():
executable="vehicle_params_node", executable="vehicle_params_node",
name="vehicle_params_node", name="vehicle_params_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
# Node( # Node(
# package="radio_ctrl", # package="radio_ctrl",
# executable="radio_ctrl_node", # executable="radio_ctrl_node",
# name="radio_ctrl_node", # name="radio_ctrl_node",
# output="screen", # output="screen",
# respawn=True, # respawn=True,
# respawn_delay=2 # respawn_delay=2,
# ), # ),
Node( Node(
package="can_radio_ctrl", package="can_radio_ctrl",
executable="can_radio_ctrl_node", executable="can_radio_ctrl_node",
name="can_radio_ctrl_node", name="can_radio_ctrl_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
Node( Node(
package="remote_ctrl", package="remote_ctrl",
executable="remote_ctrl_node", executable="remote_ctrl_node",
name="remote_ctrl_node", name="remote_ctrl_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
Node( Node(
package="mc", package="mc",
executable="mc_node", executable="mc_node",
name="mc_node", name="mc_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
Node( Node(
package="ctrl_arbiter", package="ctrl_arbiter",
executable="ctrl_arbiter_node", executable="ctrl_arbiter_node",
name="ctrl_arbiter_node", name="ctrl_arbiter_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
Node( Node(
package="mqtt_report", package="mqtt_report",
executable="mqtt_report_node", executable="mqtt_report_node",
name="mqtt_report_node", name="mqtt_report_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
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")
) )
), ),
Node( Node(
package="rtk", package="rtk",
executable="rtk_node", executable="rtk_node",
name="rtk_node", name="rtk_node",
parameters=[ parameters=[
os.path.join( os.path.join(
get_package_share_directory("rtk"), get_package_share_directory("rtk"), "config", "rtk_params.yaml"
"config",
"rtk_params.yaml"
) )
], # 从YAML文件加载参数 ], # 从YAML文件加载参数
output="screen" output="screen",
), ),
Node( Node(
package="route", package="route",
executable="route_node", executable="route_node",
name="route_node", name="route_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
Node( Node(
package="sub", package="sub",
executable="sub_node", executable="sub_node",
name="sub_node", name="sub_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
Node( Node(
package="task_manager", package="task_manager",
executable="task_manager_node", executable="task_manager_node",
name="task_manager_node", name="task_manager_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
Node( Node(
package="pl", package="pl",
executable="pl_node", executable="pl_node",
name="pl_node", name="pl_node",
output="screen", output="screen",
respawn=True, respawn=True,
respawn_delay=2 respawn_delay=2,
), ),
IncludeLaunchDescription( IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(fu_path, "launch", "fu.launch.py") os.path.join(fu_path, "launch", "fu.launch.py")
) )
), ),
] ]
) )