From c55105c9bf3f11f622a23ae61501483928984a53 Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Sat, 28 Feb 2026 13:25:32 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BB=8E=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6?=
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---
 .../launch_system/launch/start_all.launch.py  |  7 ++++++
 src/perception/rtk/CMakeLists.txt             |  3 +++
 src/perception/rtk/config/rtk_params.yaml     |  4 ++++
 src/perception/rtk/launch/rtk.launch.py       | 23 +++++++++++++++++++
 src/perception/rtk/src/rtk_node.cpp           |  5 +++-
 5 files changed, 41 insertions(+), 1 deletion(-)
 create mode 100644 src/perception/rtk/config/rtk_params.yaml
 create mode 100644 src/perception/rtk/launch/rtk.launch.py

diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py
index 37f1232..38c3867 100644
--- a/src/common/launch_system/launch/start_all.launch.py
+++ b/src/common/launch_system/launch/start_all.launch.py
@@ -78,6 +78,13 @@ def generate_launch_description():
                 package="rtk",
                 executable="rtk_node",
                 name="rtk_node",
+                parameters=[
+                    os.path.join(
+                        get_package_share_directory("rtk"),
+                        "config",
+                        "rtk_params.yaml"
+                    )
+                ],  # 从YAML文件加载参数
                 output="screen",
                 respawn=True,
                 respawn_delay=2
diff --git a/src/perception/rtk/CMakeLists.txt b/src/perception/rtk/CMakeLists.txt
index 092e378..136ca03 100644
--- a/src/perception/rtk/CMakeLists.txt
+++ b/src/perception/rtk/CMakeLists.txt
@@ -40,6 +40,9 @@ ament_target_dependencies(
 
 install(TARGETS rtk_node DESTINATION lib/${PROJECT_NAME})
 
+# 安装配置文件和启动文件
+install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME})
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
diff --git a/src/perception/rtk/config/rtk_params.yaml b/src/perception/rtk/config/rtk_params.yaml
new file mode 100644
index 0000000..b0ef88f
--- /dev/null
+++ b/src/perception/rtk/config/rtk_params.yaml
@@ -0,0 +1,4 @@
+rtk:
+  ros__parameters:
+    # 串口设备名称
+    serial_port: "/dev/ttyTHS1"
diff --git a/src/perception/rtk/launch/rtk.launch.py b/src/perception/rtk/launch/rtk.launch.py
new file mode 100644
index 0000000..b3f4035
--- /dev/null
+++ b/src/perception/rtk/launch/rtk.launch.py
@@ -0,0 +1,23 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # 获取配置文件路径
+    config_dir = os.path.join(
+        get_package_share_directory("rtk"), "config", "rtk_params.yaml"
+    )
+
+    return LaunchDescription(
+        [
+            Node(
+                package="rtk",
+                executable="rtk_node",
+                name="rtk_node",
+                parameters=[config_dir],  # 从YAML文件加载参数
+                output="screen",
+            ),
+        ]
+    )
diff --git a/src/perception/rtk/src/rtk_node.cpp b/src/perception/rtk/src/rtk_node.cpp
index 02f1b78..0ccade0 100644
--- a/src/perception/rtk/src/rtk_node.cpp
+++ b/src/perception/rtk/src/rtk_node.cpp
@@ -23,7 +23,10 @@ class rtk_node : public rclcpp::Node
 
         // 初始化串口读取
         boost_serial = new Boost_serial();
-        boost_serial->init("/dev/ttyTHS1");
+        std::string serial_port;
+        this->declare_parameter("serial_port", "/dev/ttyTHS1");
+        this->get_parameter("serial_port", serial_port);
+        boost_serial->init(serial_port.c_str());
 
         // 创建发布者
         command_publisher_ = this->create_publisher<sweeper_interfaces::msg::Rtk>("rtk_message", 10);