From 381788f46794294891943720507fbff2dbe405d9 Mon Sep 17 00:00:00 2001 From: lyq Date: Fri, 30 Jan 2026 09:30:02 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=90=AF=E5=8A=A8=E6=96=B9?= =?UTF-8?q?=E5=BC=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/common/launch_system/CMakeLists.txt | 3 +- .../launch_system/launch/start_all.launch.py | 43 ++++++++++++------- start_all.sh | 42 ++---------------- 3 files changed, 33 insertions(+), 55 deletions(-) diff --git a/src/common/launch_system/CMakeLists.txt b/src/common/launch_system/CMakeLists.txt index 5270001..6c8f882 100644 --- a/src/common/launch_system/CMakeLists.txt +++ b/src/common/launch_system/CMakeLists.txt @@ -10,7 +10,7 @@ find_package(ament_cmake REQUIRED) find_package(ament_cmake_python REQUIRED) find_package(vehicle_params REQUIRED) find_package(radio_ctrl REQUIRED) -find_package(remote_ctrl REQUIRED) +# find_package(remote_ctrl REQUIRED) find_package(mc REQUIRED) find_package(ctrl_arbiter REQUIRED) find_package(mqtt_report REQUIRED) @@ -25,7 +25,6 @@ find_package(fu REQUIRED) # Install launch files install(DIRECTORY launch - config DESTINATION share/${PROJECT_NAME}/ ) diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py index 2c41612..37f1232 100644 --- a/src/common/launch_system/launch/start_all.launch.py +++ b/src/common/launch_system/launch/start_all.launch.py @@ -12,106 +12,119 @@ def generate_launch_description(): return LaunchDescription( [ - # 启动车辆参数节点 Node( package="vehicle_params", executable="vehicle_params_node", name="vehicle_params_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动无线电控制节点 Node( package="radio_ctrl", executable="radio_ctrl_node", name="radio_ctrl_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动远程控制节点 Node( package="remote_ctrl", executable="remote_ctrl_node", name="remote_ctrl_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动MC节点 Node( package="mc", executable="mc_node", name="mc_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动控制仲裁节点 Node( package="ctrl_arbiter", executable="ctrl_arbiter_node", name="ctrl_arbiter_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动MQTT报告节点 Node( package="mqtt_report", executable="mqtt_report_node", name="mqtt_report_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动激光雷达节点（使用现有launch文件） IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py") - ) + ), + respawn=True, + respawn_delay=2 ), - # 启动RTK节点 Node( package="rtk", executable="rtk_node", name="rtk_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动路径节点 Node( package="route", executable="route_node", name="route_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动SUB节点 Node( package="sub", executable="sub_node", name="sub_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动任务管理器节点 Node( package="task_manager", executable="task_manager_node", name="task_manager_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动PL节点 Node( package="pl", executable="pl_node", name="pl_node", output="screen", + respawn=True, + respawn_delay=2 ), - # 启动FU节点（使用现有launch文件） IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(fu_path, "launch", "fu.launch.py") - ) + ), + respawn=True, + respawn_delay=2 ), ] ) \ No newline at end of file diff --git a/start_all.sh b/start_all.sh index 4a32707..e9a81db 100755 --- a/start_all.sh +++ b/start_all.sh @@ -1,47 +1,13 @@ #!/bin/bash set -e +# 切换到ROS2工作空间根目录 +# cd /home/nvidia/Downloads/sweeper_200 + # 加载工作空间环境 source install/setup.bash # 启动节点 -ros2 run vehicle_params vehicle_params_node & -sleep 0.2 - -ros2 run radio_ctrl radio_ctrl_node & -sleep 0.2 - -ros2 run remote_ctrl remote_ctrl_node & -sleep 0.2 - -ros2 run mc mc_node & -sleep 0.2 - -ros2 run ctrl_arbiter ctrl_arbiter_node & -sleep 0.2 - -ros2 run mqtt_report mqtt_report_node & -sleep 0.2 - -ros2 launch rslidar_sdk start_double.launch.py & -sleep 0.2 - -ros2 run rtk rtk_node & -sleep 0.2 - -ros2 run route route_node & -sleep 0.2 - -ros2 run sub sub_node & -sleep 0.2 - -ros2 run task_manager task_manager_node & -sleep 0.2 - -ros2 run pl pl_node & -sleep 0.2 - -ros2 launch fu fu.launch.py & -sleep 0.2 +ros2 launch launch_system start_all.launch.py & wait