0417 修改启动方式，加入cpu绑定
This commit is contained in:
parent
74da7950fe
commit
3897be02b1
@ -1,22 +1,66 @@
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#!/bin/bash
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set -e
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# ===== 环境 =====
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source /opt/ros/humble/setup.bash
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source /home/nvidia/Downloads/sweeper_200/install/setup.bash
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source install/setup.bash
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# ===== 信号处理（这是核心）=====
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terminate() {
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echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
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kill -TERM "$ROS2_PID"
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wait "$ROS2_PID"
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exit 0
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}
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# ==============================================
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# 1. 车辆参数节点（你之前漏掉的！必须第一个启动）
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# ==============================================
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taskset -c 0 ros2 run vehicle_params vehicle_params_node &
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sleep 0.2
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trap terminate SIGINT SIGTERM
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# ==============================================
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# 2. 控制类节点（低负载，不影响雷达）
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# ==============================================
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taskset -c 0 ros2 run can_radio_ctrl can_radio_ctrl_node &
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sleep 0.2
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# ===== 启动 launch（前台语义）=====
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ros2 launch launch_system start_all.launch.py &
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ROS2_PID=$!
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taskset -c 2 ros2 run remote_ctrl remote_ctrl_node &
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sleep 0.2
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wait "$ROS2_PID"
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taskset -c 1 ros2 run mc mc_node &
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sleep 0.2
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taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
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sleep 0.2
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taskset -c 2 ros2 run pl pl_node &
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sleep 0.2
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taskset -c 6 ros2 run mqtt_report mqtt_report_node &
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sleep 0.3
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# ==============================================
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# 3. 雷达驱动 —— 专用核心 3、4（绝不被抢占）
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# ==============================================
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taskset -c 3,4 ros2 launch rslidar_sdk start_double.launch.py &
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sleep 1.5
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# ==============================================
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# 4. 点云融合 —— 专用核心 5（完全隔离）
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# ==============================================
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taskset -c 5 ros2 launch rslidar_pointcloud_merger merge_two_lidars.launch.py &
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sleep 0.3
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# ==============================================
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# 5. 定位 & 业务节点（不干扰雷达）
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# ==============================================
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taskset -c 6 ros2 run rtk rtk_node &
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sleep 0.3
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taskset -c 6 ros2 run route route_node &
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sleep 0.3
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taskset -c 6 ros2 run sub sub_node &
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sleep 0.3
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taskset -c 7 ros2 run task_manager task_manager_node &
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sleep 0.3
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taskset -c 7 ros2 launch fu fu.launch.py &
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wait
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gps_load_now.txt
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gps_load_now.txt
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routes/gps_load_1772775503834.txt
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routes/gps_load_1776133105337.txt
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routes/gps_load_1776133105337.txt
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@ -16,7 +16,7 @@ struct can_BMS_query_0x100
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// 报文ID与控制标志定义
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static constexpr uint32_t CMD_ID = 0x100; // 标准帧ID
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static constexpr bool EXT_FLAG = false; // 11位标准帧
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static constexpr bool RTR_FLAG = true; // 普通数据帧（非远程帧）
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static constexpr bool RTR_FLAG = false; // 普通数据帧（非远程帧）
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static constexpr uint8_t DLC = 8; // 数据长度为8字节
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// 数据区（主机查询时通常发送全0）
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@ -43,7 +43,7 @@ struct can_BMS_query_0x101
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// 报文ID与控制标志定义
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static constexpr uint32_t CMD_ID = 0x101; // 标准帧ID
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static constexpr bool EXT_FLAG = false; // 11位标准帧
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static constexpr bool RTR_FLAG = true; // 普通数据帧（非远程帧）
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static constexpr bool RTR_FLAG = false; // 普通数据帧（非远程帧）
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static constexpr uint8_t DLC = 8; // 数据长度为8字节
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// 数据区（主机查询时通常发送全0）
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@ -1,203 +1,187 @@
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.actions import TimerAction, ExecuteProcess
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# 获取各包的路径
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rslidar_sdk_path = get_package_share_directory("rslidar_sdk")
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fu_path = get_package_share_directory("fu")
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rslidar_sdk_dir = get_package_share_directory("rslidar_sdk")
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pointcloud_merger_dir = get_package_share_directory("rslidar_pointcloud_merger")
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fu_dir = get_package_share_directory("fu")
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# ===================== 按顺序延时启动所有节点 =====================
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# 1. 车辆参数节点 (立即启动)
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vehicle_params_node = Node(
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vehicle_params = Node(
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package="vehicle_params",
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executable="vehicle_params_node",
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name="vehicle_params_node",
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output="screen",
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respawn=True,
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respawn_delay=2,
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prefix="taskset -c 0",
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)
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# 2. CAN遥控节点 (延时0.2s)
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can_radio_ctrl_node = TimerAction(
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can_radio_ctrl = TimerAction(
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period=0.2,
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actions=[Node(
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package="can_radio_ctrl",
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executable="can_radio_ctrl_node",
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name="can_radio_ctrl_node",
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output="screen",
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respawn=True,
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respawn_delay=2,
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)]
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)
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# Node(
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# package="radio_ctrl",
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# executable="radio_ctrl_node",
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# name="radio_ctrl_node",
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# output="screen",
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# respawn=True,
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# respawn_delay=2,
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# ),
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# 3. 远程控制节点 (延时0.4s)
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remote_ctrl_node = TimerAction(
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period=0.4,
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actions=[Node(
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package="remote_ctrl",
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executable="remote_ctrl_node",
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name="remote_ctrl_node",
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output="screen",
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respawn=True,
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respawn_delay=2,
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)]
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)
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# 4. MC电机控制节点 (延时0.6s)
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mc_node = TimerAction(
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period=0.6,
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actions=[Node(
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package="mc",
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executable="mc_node",
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name="mc_node",
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output="screen",
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respawn=True,
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respawn_delay=2,
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)]
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)
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# 5. 控制仲裁节点 (延时0.8s)
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ctrl_arbiter_node = TimerAction(
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period=0.8,
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actions=[Node(
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package="ctrl_arbiter",
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executable="ctrl_arbiter_node",
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name="ctrl_arbiter_node",
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output="screen",
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respawn=True,
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respawn_delay=2,
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)]
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)
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# 6. MQTT上报节点 (延时1.0s) —— 【关键：必须最后启动】
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mqtt_report_node = TimerAction(
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period=1.0,
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actions=[Node(
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package="mqtt_report",
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executable="mqtt_report_node",
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name="mqtt_report_node",
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output="screen",
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respawn=True,
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respawn_delay=2,
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)]
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)
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# 7. 雷达启动 (延时1.5s)
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lidar_launch = TimerAction(
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period=1.5,
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actions=[IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
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actions=[
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Node(
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package="can_radio_ctrl",
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executable="can_radio_ctrl_node",
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output="screen",
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prefix="taskset -c 0",
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)
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)]
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)
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# 8. RTK定位节点 (延时2.0s)
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rtk_node = TimerAction(
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period=2.0,
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actions=[Node(
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package="rtk",
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executable="rtk_node",
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name="rtk_node",
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parameters=[
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os.path.join(
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get_package_share_directory("rtk"), "config", "rtk_params.yaml"
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)
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],
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output="screen",
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)]
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)
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|
||||
# 9. 路径节点 (延时2.5s)
|
||||
route_node = TimerAction(
|
||||
period=2.5,
|
||||
actions=[Node(
|
||||
package="route",
|
||||
executable="route_node",
|
||||
name="route_node",
|
||||
output="screen",
|
||||
respawn=True,
|
||||
respawn_delay=2,
|
||||
)]
|
||||
)
|
||||
|
||||
# 10. 订阅节点 (延时3.0s)
|
||||
sub_node = TimerAction(
|
||||
period=3.0,
|
||||
actions=[Node(
|
||||
package="sub",
|
||||
executable="sub_node",
|
||||
name="sub_node",
|
||||
output="screen",
|
||||
respawn=True,
|
||||
respawn_delay=2,
|
||||
)]
|
||||
)
|
||||
|
||||
# 11. 任务管理节点 (延时3.5s)
|
||||
task_manager_node = TimerAction(
|
||||
period=3.5,
|
||||
actions=[Node(
|
||||
package="task_manager",
|
||||
executable="task_manager_node",
|
||||
name="task_manager_node",
|
||||
output="screen",
|
||||
respawn=True,
|
||||
respawn_delay=2,
|
||||
)]
|
||||
)
|
||||
|
||||
# 12. 规划控制节点 (延时4.0s)
|
||||
pl_node = TimerAction(
|
||||
period=4.0,
|
||||
actions=[Node(
|
||||
package="pl",
|
||||
executable="pl_node",
|
||||
name="pl_node",
|
||||
output="screen",
|
||||
respawn=True,
|
||||
respawn_delay=2,
|
||||
)]
|
||||
)
|
||||
|
||||
# 13. FU功能节点 (延时4.5s)
|
||||
fu_launch = TimerAction(
|
||||
period=4.5,
|
||||
actions=[IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(fu_path, "launch", "fu.launch.py")
|
||||
)
|
||||
)]
|
||||
)
|
||||
|
||||
# ===================== 组装启动列表 =====================
|
||||
return LaunchDescription(
|
||||
[
|
||||
vehicle_params_node,
|
||||
can_radio_ctrl_node,
|
||||
remote_ctrl_node,
|
||||
mc_node,
|
||||
ctrl_arbiter_node,
|
||||
mqtt_report_node,
|
||||
lidar_launch,
|
||||
rtk_node,
|
||||
route_node,
|
||||
sub_node,
|
||||
task_manager_node,
|
||||
pl_node,
|
||||
fu_launch,
|
||||
]
|
||||
)
|
||||
|
||||
remote_ctrl = TimerAction(
|
||||
period=0.4,
|
||||
actions=[
|
||||
Node(
|
||||
package="remote_ctrl",
|
||||
executable="remote_ctrl_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 2",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
mc = TimerAction(
|
||||
period=0.6,
|
||||
actions=[
|
||||
Node(
|
||||
package="mc",
|
||||
executable="mc_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 1",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
ctrl_arbiter = TimerAction(
|
||||
period=0.8,
|
||||
actions=[
|
||||
Node(
|
||||
package="ctrl_arbiter",
|
||||
executable="ctrl_arbiter_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 1",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
pl = TimerAction(
|
||||
period=1.0,
|
||||
actions=[
|
||||
Node(
|
||||
package="pl",
|
||||
executable="pl_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 2",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
mqtt_report = TimerAction(
|
||||
period=1.3,
|
||||
actions=[
|
||||
Node(
|
||||
package="mqtt_report",
|
||||
executable="mqtt_report_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 6",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
lidar_driver = TimerAction(
|
||||
period=1.6,
|
||||
actions=[
|
||||
ExecuteProcess(
|
||||
cmd=["ros2", "launch", "rslidar_sdk", "start_double.launch.py"],
|
||||
output="screen",
|
||||
prefix="taskset -c 3,4",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
pointcloud_merger = TimerAction(
|
||||
period=3.1,
|
||||
actions=[
|
||||
ExecuteProcess(
|
||||
cmd=["ros2", "launch", "rslidar_pointcloud_merger", "merge_two_lidars.launch.py"],
|
||||
output="screen",
|
||||
prefix="taskset -c 5",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
rtk = TimerAction(
|
||||
period=3.4,
|
||||
actions=[
|
||||
Node(
|
||||
package="rtk",
|
||||
executable="rtk_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 6",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
route = TimerAction(
|
||||
period=3.7,
|
||||
actions=[
|
||||
Node(
|
||||
package="route",
|
||||
executable="route_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 6",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
sub = TimerAction(
|
||||
period=4.0,
|
||||
actions=[
|
||||
Node(
|
||||
package="sub",
|
||||
executable="sub_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 6",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
task_manager = TimerAction(
|
||||
period=4.3,
|
||||
actions=[
|
||||
Node(
|
||||
package="task_manager",
|
||||
executable="task_manager_node",
|
||||
output="screen",
|
||||
prefix="taskset -c 7",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
fu = TimerAction(
|
||||
period=4.6,
|
||||
actions=[
|
||||
ExecuteProcess(
|
||||
cmd=["ros2", "launch", "fu", "fu.launch.py"],
|
||||
output="screen",
|
||||
prefix="taskset -c 7",
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
vehicle_params,
|
||||
can_radio_ctrl,
|
||||
remote_ctrl,
|
||||
mc,
|
||||
ctrl_arbiter,
|
||||
pl,
|
||||
mqtt_report,
|
||||
lidar_driver,
|
||||
pointcloud_merger,
|
||||
rtk,
|
||||
route,
|
||||
sub,
|
||||
task_manager,
|
||||
fu,
|
||||
])
|
||||
70
start_all.sh
70
start_all.sh
@ -1,62 +1,22 @@
|
||||
#!/bin/bash
|
||||
set -e
|
||||
|
||||
source install/setup.bash
|
||||
# ===== 环境 =====
|
||||
source /opt/ros/humble/setup.bash
|
||||
source /home/nvidia/Downloads/sweeper_200/install/setup.bash
|
||||
|
||||
# ==============================================
|
||||
# 1. 车辆参数节点（你之前漏掉的！必须第一个启动）
|
||||
# ==============================================
|
||||
taskset -c 0 ros2 run vehicle_params vehicle_params_node &
|
||||
sleep 0.2
|
||||
# ===== 信号处理（这是核心）=====
|
||||
terminate() {
|
||||
echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
|
||||
kill -TERM "$ROS2_PID"
|
||||
wait "$ROS2_PID"
|
||||
exit 0
|
||||
}
|
||||
|
||||
# ==============================================
|
||||
# 2. 控制类节点（低负载，不影响雷达）
|
||||
# ==============================================
|
||||
taskset -c 0 ros2 run can_radio_ctrl can_radio_ctrl_node &
|
||||
sleep 0.2
|
||||
trap terminate SIGINT SIGTERM
|
||||
|
||||
taskset -c 2 ros2 run remote_ctrl remote_ctrl_node &
|
||||
sleep 0.2
|
||||
# ===== 启动 launch（前台语义）=====
|
||||
ros2 launch launch_system start_all.launch.py &
|
||||
ROS2_PID=$!
|
||||
|
||||
taskset -c 1 ros2 run mc mc_node &
|
||||
sleep 0.2
|
||||
|
||||
taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
|
||||
sleep 0.2
|
||||
|
||||
taskset -c 2 ros2 run pl pl_node &
|
||||
sleep 0.2
|
||||
|
||||
taskset -c 6 ros2 run mqtt_report mqtt_report_node &
|
||||
sleep 0.3
|
||||
|
||||
# ==============================================
|
||||
# 3. 雷达驱动 —— 专用核心 3、4（绝不被抢占）
|
||||
# ==============================================
|
||||
taskset -c 3,4 ros2 launch rslidar_sdk start_double.launch.py &
|
||||
sleep 1.5
|
||||
|
||||
# ==============================================
|
||||
# 4. 点云融合 —— 专用核心 5（完全隔离）
|
||||
# ==============================================
|
||||
taskset -c 5 ros2 launch rslidar_pointcloud_merger merge_two_lidars.launch.py &
|
||||
sleep 0.3
|
||||
|
||||
# ==============================================
|
||||
# 5. 定位 & 业务节点（不干扰雷达）
|
||||
# ==============================================
|
||||
taskset -c 6 ros2 run rtk rtk_node &
|
||||
sleep 0.3
|
||||
|
||||
taskset -c 6 ros2 run route route_node &
|
||||
sleep 0.3
|
||||
|
||||
taskset -c 6 ros2 run sub sub_node &
|
||||
sleep 0.3
|
||||
|
||||
taskset -c 7 ros2 run task_manager task_manager_node &
|
||||
sleep 0.3
|
||||
|
||||
taskset -c 7 ros2 launch fu fu.launch.py &
|
||||
|
||||
wait
|
||||
wait "$ROS2_PID"
|
||||
Loading…
Reference in New Issue
Block a user