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start all launch

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This commit is contained in:
Alvin-lyq 2026-04-29 15:13:21 +08:00
parent 31faa9e9df
commit 6821837465
1 changed files with 15 additions and 3 deletions
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18
src/common/launch_system/launch/start_all.launch.py
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@ -9,6 +9,7 @@ def generate_launch_description():
rslidar_sdk_dir = get_package_share_directory("rslidar_sdk") rslidar_sdk_dir = get_package_share_directory("rslidar_sdk")
pointcloud_merger_dir = get_package_share_directory("rslidar_pointcloud_merger") pointcloud_merger_dir = get_package_share_directory("rslidar_pointcloud_merger")
fu_dir = get_package_share_directory("fu") fu_dir = get_package_share_directory("fu")
pbox_node_dir = get_package_share_directory("pbox_node")
vehicle_params = Node( vehicle_params = Node(
package="vehicle_params", package="vehicle_params",
@ -119,15 +120,25 @@ def generate_launch_description():
rtk = TimerAction( rtk = TimerAction(
period=3.4, period=3.4,
actions=[ actions=[
Node( ExecuteProcess(
package="rtk", cmd=["ros2", "launch", "rtk_asensing", "rtk_asensing.launch.py"],
executable="rtk_node",
output="screen", output="screen",
prefix="taskset -c 7", 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( route = TimerAction(
period=3.7, period=3.7,
actions=[ actions=[
@ -186,6 +197,7 @@ def generate_launch_description():
mqtt_report, mqtt_report,
lidar_driver, lidar_driver,
pointcloud_merger, pointcloud_merger,
pbox_node,
rtk, rtk,
route, route,
sub, sub,