From 6821837465423b0f505626f007888e63bb109cf4 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Wed, 29 Apr 2026 15:13:21 +0800
Subject: [PATCH] start all launch

---
 .../launch_system/launch/start_all.launch.py   | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py
index ba90262..10a4418 100644
--- a/src/common/launch_system/launch/start_all.launch.py
+++ b/src/common/launch_system/launch/start_all.launch.py
@@ -9,6 +9,7 @@ def generate_launch_description():
     rslidar_sdk_dir = get_package_share_directory("rslidar_sdk")
     pointcloud_merger_dir = get_package_share_directory("rslidar_pointcloud_merger")
     fu_dir = get_package_share_directory("fu")
+    pbox_node_dir = get_package_share_directory("pbox_node")
 
     vehicle_params = Node(
         package="vehicle_params",
@@ -119,15 +120,25 @@ def generate_launch_description():
     rtk = TimerAction(
         period=3.4,
         actions=[
-            Node(
-                package="rtk",
-                executable="rtk_node",
+            ExecuteProcess(
+                cmd=["ros2", "launch", "rtk_asensing", "rtk_asensing.launch.py"],
                 output="screen",
                 prefix="taskset -c 7",
             )
         ],
     )
 
+    pbox_node = TimerAction(
+        period=3.2,
+        actions=[
+            ExecuteProcess(
+                cmd=["ros2", "launch", "pbox_node", "pbox_node.launch.py"],
+                output="screen",
+                prefix="taskset -c 6",
+            )
+        ],
+    )
+
     route = TimerAction(
         period=3.7,
         actions=[
@@ -186,6 +197,7 @@ def generate_launch_description():
             mqtt_report,
             lidar_driver,
             pointcloud_merger,
+            pbox_node,
             rtk,
             route,
             sub,