feat: init sim_smart_car_bridge — ROS2 bridge relay for Origincar HTTP API

Bridge image (GET /image → sensor_msgs/Image), IMU (GET /imu → sensor_msgs/Imu),
and cmd_vel (Twist → POST /cmd) between Origincar simulation and ROS2.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

launch/bridge.launch.py

@@ -0,0 +1,86 @@
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    """启动 origincar_bridge 节点，所有参数可通过命令行覆盖。"""
+
+    # 声明 launch 参数（名称, 默认值, 说明）
+    declare_http_host = DeclareLaunchArgument(
+        "http_host",
+        default_value="192.168.11.159",
+        description="仿真机 IP 地址",
+    )
+    declare_http_port = DeclareLaunchArgument(
+        "http_port",
+        default_value="8765",
+        description="HTTP API 端口",
+    )
+    declare_image_topic = DeclareLaunchArgument(
+        "image_topic",
+        default_value="/image",
+        description="图像发布话题",
+    )
+    declare_imu_topic = DeclareLaunchArgument(
+        "imu_topic",
+        default_value="/imu",
+        description="IMU 发布话题",
+    )
+    declare_cmd_vel_topic = DeclareLaunchArgument(
+        "cmd_vel_topic",
+        default_value="/cmd_vel",
+        description="控制指令订阅话题",
+    )
+    declare_image_rate = DeclareLaunchArgument(
+        "image_rate",
+        default_value="30.0",
+        description="图像拉取频率 (Hz)",
+    )
+    declare_imu_rate = DeclareLaunchArgument(
+        "imu_rate",
+        default_value="30.0",
+        description="IMU 拉取频率 (Hz)",
+    )
+    declare_timeout = DeclareLaunchArgument(
+        "timeout",
+        default_value="1.0",
+        description="HTTP 请求超时 (秒)",
+    )
+
+    # 节点
+    bridge_node = Node(
+        package="origincar_bridge",
+        executable="bridge_node",
+        name="origincar_bridge",
+        output="screen",
+        parameters=[
+            {
+                "http_host": LaunchConfiguration("http_host"),
+                "http_port": LaunchConfiguration("http_port"),
+                "image_topic": LaunchConfiguration("image_topic"),
+                "imu_topic": LaunchConfiguration("imu_topic"),
+                "cmd_vel_topic": LaunchConfiguration("cmd_vel_topic"),
+                "image_rate": LaunchConfiguration("image_rate"),
+                "imu_rate": LaunchConfiguration("imu_rate"),
+                "timeout": LaunchConfiguration("timeout"),
+            }
+        ],
+    )
+
+    return LaunchDescription(
+        [
+            declare_http_host,
+            declare_http_port,
+            declare_image_topic,
+            declare_imu_topic,
+            declare_cmd_vel_topic,
+            declare_image_rate,
+            declare_imu_rate,
+            declare_timeout,
+            bridge_node,
+        ]
+    )