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修改启动方式

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This commit is contained in:
lyq 2026-01-30 09:30:02 +08:00
parent 0939e19f3b
commit 381788f467
3 changed files with 33 additions and 55 deletions
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3
src/common/launch_system/CMakeLists.txt
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@ -10,7 +10,7 @@ find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED) find_package(ament_cmake_python REQUIRED)
find_package(vehicle_params REQUIRED) find_package(vehicle_params REQUIRED)
find_package(radio_ctrl REQUIRED) find_package(radio_ctrl REQUIRED)
find_package(remote_ctrl REQUIRED) # find_package(remote_ctrl REQUIRED)
find_package(mc REQUIRED) find_package(mc REQUIRED)
find_package(ctrl_arbiter REQUIRED) find_package(ctrl_arbiter REQUIRED)
find_package(mqtt_report REQUIRED) find_package(mqtt_report REQUIRED)
@ -25,7 +25,6 @@ find_package(fu REQUIRED)
# Install launch files # Install launch files
install(DIRECTORY install(DIRECTORY
launch launch
config
DESTINATION share/${PROJECT_NAME}/ DESTINATION share/${PROJECT_NAME}/
) )

43
src/common/launch_system/launch/start_all.launch.py
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@ -12,106 +12,119 @@ def generate_launch_description():
return LaunchDescription( return LaunchDescription(
[ [
# 启动车辆参数节点
Node( Node(
package="vehicle_params", package="vehicle_params",
executable="vehicle_params_node", executable="vehicle_params_node",
name="vehicle_params_node", name="vehicle_params_node",
output="screen", output="screen",
respawn=True,
respawn_delay=2
), ),
# 启动无线电控制节点
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_delay=2
), ),
# 启动远程控制节点
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_delay=2
), ),
# 启动MC节点
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_delay=2
), ),
# 启动控制仲裁节点
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_delay=2
), ),
# 启动MQTT报告节点
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_delay=2
), ),
# 启动激光雷达节点（使用现有launch文件）
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")
) ),
respawn=True,
respawn_delay=2
), ),
# 启动RTK节点
Node( Node(
package="rtk", package="rtk",
executable="rtk_node", executable="rtk_node",
name="rtk_node", name="rtk_node",
output="screen", output="screen",
respawn=True,
respawn_delay=2
), ),
# 启动路径节点
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_delay=2
), ),
# 启动SUB节点
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_delay=2
), ),
# 启动任务管理器节点
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_delay=2
), ),
# 启动PL节点
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_delay=2
), ),
# 启动FU节点（使用现有launch文件）
IncludeLaunchDescription( IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(fu_path, "launch", "fu.launch.py") os.path.join(fu_path, "launch", "fu.launch.py")
) ),
respawn=True,
respawn_delay=2
), ),
] ]
) )

42
start_all.sh
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@ -1,47 +1,13 @@
#!/bin/bash #!/bin/bash
set -e 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 # 加载工作空间环境
source install/setup.bash source install/setup.bash
# 启动节点 # 启动节点
ros2 run vehicle_params vehicle_params_node & ros2 launch launch_system start_all.launch.py &
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
wait wait