迁移了原来的nav2包；新增基于obstacle_scanner构建costmap的nav2，暂未实际测试

src/my_robot_bringup/launch/master_launch.py

@@ -0,0 +1,352 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+# ============================================================================
+# master_launch.py —— 机器人系统总启动文件
+# 启动顺序: origincar_base → LiDAR → TTS服务 → USB相机+二维码 → 障碍物检测 → 路径规划 → 轨迹跟随 → VLM
+# 用法:
+#   ros2 launch my_robot_bringup master_launch.py
+#   ros2 launch my_robot_bringup master_launch.py use_qr:=false
+#   ros2 launch my_robot_bringup master_launch.py use_vlm:=false
+#   ros2 launch my_robot_bringup master_launch.py use_planner:=false
+# ============================================================================
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    TimerAction,
+    LogInfo,
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    # ================================================================
+    # 路径
+    # ================================================================
+    origincar_dir = get_package_share_directory('origincar_base')
+    lslidar_dir = get_package_share_directory('lslidar_driver')
+    obstacle_dir = get_package_share_directory('obstacle_scanner')
+    planner_dir = get_package_share_directory('planner')
+    vlm_dir = get_package_share_directory('vlm_detect')
+
+    # ================================================================
+    # Launch 参数 —— 可通过命令行灵活切换
+    # ================================================================
+
+    # 模块开关
+    use_base = LaunchConfiguration('use_base', default='true')
+    use_lidar = LaunchConfiguration('use_lidar', default='true')
+    use_qr = LaunchConfiguration('use_qr', default='true')
+    use_tts = LaunchConfiguration('use_tts', default='true')
+    use_obstacle = LaunchConfiguration('use_obstacle', default='true')
+    use_planner = LaunchConfiguration('use_planner', default='true')
+    use_vlm = LaunchConfiguration('use_vlm', default='true')
+
+    # 车辆模式
+    akmcar = LaunchConfiguration('akmcar', default='true')
+    carto_slam = LaunchConfiguration('carto_slam', default='false')
+
+    # 摄像头设备
+    camera_device = LaunchConfiguration('camera_device', default='/dev/video0')
+
+    # TTS 参数
+    audio_sink = LaunchConfiguration('audio_sink',
+        default='alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo')
+    tts_speed = LaunchConfiguration('tts_speed', default='1.5')
+
+    # 地图文件 (AMCL 定位用)
+    map_file = LaunchConfiguration('map_file', default=os.path.join(
+        planner_dir, 'maps', 'real_5x5.yaml'))
+
+    # Planner / Tracker 参数文件
+    planner_params_file = LaunchConfiguration('planner_params_file', default=os.path.join(
+        planner_dir, 'config', 'real_hybrid_astar.yaml'))
+    tracker_params_file = LaunchConfiguration('tracker_params_file', default=os.path.join(
+        planner_dir, 'config', 'real_pure_pursuit.yaml'))
+    amcl_params_file = LaunchConfiguration('amcl_params_file', default=os.path.join(
+        planner_dir, 'config', 'real_amcl.yaml'))
+
+    # VLM 服务器地址
+    vlm_host = LaunchConfiguration('vlm_host', default='http://192.168.10.189:8000')
+
+    # 通用
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    # ================================================================
+    # 阶段 1: 底盘驱动 + EKF + TF + IMU  (t=0s)
+    # ================================================================
+    origincar_bringup = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            origincar_dir, '/launch', '/origincar_bringup.launch.py'
+        ]),
+        condition=IfCondition(use_base),
+        launch_arguments={
+            'akmcar': akmcar,
+            'carto_slam': carto_slam,
+        }.items(),
+    )
+
+    # ================================================================
+    # 阶段 2: 激光雷达  (t=2s)
+    # ================================================================
+    lidar_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            lslidar_dir, '/launch', '/lsn10_launch.py'
+        ]),
+        condition=IfCondition(use_lidar),
+    )
+
+    # ================================================================
+    # 阶段 3: TTS 语音播报服务 + 二维码播报桥接  (t=3s)
+    # tts_server: Piper 离线 TTS + espeak 降级，提供 /tts/speak 服务
+    # qr_tts_bridge: 订阅 qr_results，调用 /tts/speak
+    # ================================================================
+    tts_server = Node(
+        package='vlm_detect',
+        executable='tts_server',
+        name='tts_server',
+        output='screen',
+        condition=IfCondition(use_tts),
+        parameters=[{
+            'audio_sink': audio_sink,
+            'tts_speed': tts_speed,
+        }],
+    )
+
+    qr_tts_bridge = Node(
+        package='vlm_detect',
+        executable='qr_tts_bridge',
+        name='qr_tts_bridge',
+        output='screen',
+        condition=IfCondition(use_tts),
+    )
+
+    # ================================================================
+    # 阶段 4: USB 摄像头 + 二维码识别  (t=4s)
+    # usb_cam: 驱动 USB 摄像头，发布 /image_raw
+    # qr_detect: 订阅 /image_raw，识别二维码，发布 qr_results
+    # ================================================================
+    usb_camera = Node(
+        package='usb_cam',
+        executable='usb_cam_node_exe',
+        name='usb_cam',
+        output='screen',
+        condition=IfCondition(use_qr),
+        parameters=[{
+            'video_device': camera_device,
+            'image_size': [640, 480],
+            'pixel_format': 'YUYV',
+            'framerate': 30.0,
+        }],
+    )
+
+    qr_detect = Node(
+        package='qr_detection',
+        executable='qr_detect',
+        name='qr_detect',
+        output='screen',
+        condition=IfCondition(use_qr),
+        parameters=[{'image_topic': '/image_raw'}],
+    )
+
+    # ================================================================
+    # 阶段 5: 障碍物检测  (t=5s)
+    # ================================================================
+    obstacle_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            obstacle_dir, '/launch', '/obstacle_scanner.launch.py'
+        ]),
+        condition=IfCondition(use_obstacle),
+    )
+
+    # ================================================================
+    # 阶段 6: 地图服务器 + AMCL 定位  (t=7s)
+    # ================================================================
+    map_server_node = Node(
+        package='nav2_map_server',
+        executable='map_server',
+        name='map_server',
+        output='screen',
+        condition=IfCondition(use_planner),
+        parameters=[{'yaml_filename': map_file,
+                     'use_sim_time': use_sim_time}],
+    )
+
+    amcl_node = Node(
+        package='nav2_amcl',
+        executable='amcl',
+        name='amcl',
+        output='screen',
+        condition=IfCondition(use_planner),
+        parameters=[amcl_params_file,
+                     {'use_sim_time': use_sim_time}],
+    )
+
+    lifecycle_manager = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager_localization',
+        output='screen',
+        condition=IfCondition(use_planner),
+        parameters=[{'use_sim_time': use_sim_time,
+                     'autostart': True,
+                     'node_names': ['map_server', 'amcl']}],
+    )
+
+    # ================================================================
+    # 阶段 7: Hybrid A* 路径规划 + Pure Pursuit 轨迹跟随  (t=9s)
+    # ================================================================
+    planner_node = Node(
+        package='planner',
+        executable='grid_astar_theta_node',
+        name='grid_astar_theta_planner',
+        output='screen',
+        condition=IfCondition(use_planner),
+        parameters=[planner_params_file,
+                     {'use_sim_time': use_sim_time,
+                      'obstacles_topic': '/obstacles'}],
+    )
+
+    tracker_node = Node(
+        package='planner',
+        executable='topology_pure_pursuit_node.py',
+        name='topology_pure_pursuit',
+        output='screen',
+        condition=IfCondition(use_planner),
+        parameters=[tracker_params_file,
+                     {'use_sim_time': use_sim_time}],
+    )
+
+    # ================================================================
+    # 阶段 8: VLM 图生文  (t=11s)
+    # vlm_node 内部自带 TTS 服务客户端，识别完自动调用 /tts/speak
+    # 注意: TTS 服务和桥接已在阶段 3 启动，这里只启动 vlm_node
+    # ================================================================
+    vlm_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            vlm_dir, '/launch', '/vlm_detect.launch.py'
+        ]),
+        condition=IfCondition(use_vlm),
+        launch_arguments={
+            'vlm_host': vlm_host,
+            'use_tts': 'false',       # tts_server 已在阶段 3 启动
+            'use_qr_tts': 'false',    # qr_tts_bridge 已在阶段 3 启动
+        }.items(),
+    )
+
+    # ================================================================
+    # 组装 —— 通过 TimerAction 保证先后顺序
+    # ================================================================
+    return LaunchDescription([
+
+        # 模块 开关 参数
+        DeclareLaunchArgument('use_base', default_value='true',
+                              description='底盘驱动 + EKF + TF'),
+        DeclareLaunchArgument('use_lidar', default_value='true',
+                              description='激光雷达 (lsn10)'),
+        DeclareLaunchArgument('use_qr', default_value='true',
+                              description='USB 摄像头 + 二维码识别'),
+        DeclareLaunchArgument('use_tts', default_value='true',
+                              description='TTS 语音播报服务 + 二维码播报桥接'),
+        DeclareLaunchArgument('use_obstacle', default_value='true',
+                              description='障碍物检测'),
+        DeclareLaunchArgument('use_planner', default_value='true',
+                              description='路径规划 + 轨迹跟随'),
+        DeclareLaunchArgument('use_vlm', default_value='true',
+                              description='VLM 图生文'),
+        DeclareLaunchArgument('akmcar', default_value='true',
+                              description='车辆模型 (true=阿克曼, false=麦轮)'),
+        DeclareLaunchArgument('carto_slam', default_value='false',
+                              description='使用 Cartographer 替代 EKF'),
+        DeclareLaunchArgument('camera_device', default_value='/dev/video0',
+                              description='USB 摄像头设备路径'),
+        DeclareLaunchArgument('audio_sink',
+            default_value='alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo',
+            description='音频输出设备 (PulseAudio sink)'),
+        DeclareLaunchArgument('tts_speed', default_value='1.5',
+                              description='TTS 语速倍率 (0.5~2.0)'),
+        DeclareLaunchArgument('map_file', default_value=os.path.join(
+            planner_dir, 'maps', 'real_5x5.yaml'),
+                              description='预建地图 YAML 文件'),
+        DeclareLaunchArgument('planner_params_file', default_value=os.path.join(
+            planner_dir, 'config', 'real_hybrid_astar.yaml'),
+                              description='Hybrid A* 规划器参数文件'),
+        DeclareLaunchArgument('tracker_params_file', default_value=os.path.join(
+            planner_dir, 'config', 'real_pure_pursuit.yaml'),
+                              description='Pure Pursuit 跟踪器参数文件'),
+        DeclareLaunchArgument('amcl_params_file', default_value=os.path.join(
+            planner_dir, 'config', 'real_amcl.yaml'),
+                              description='AMCL 定位参数文件'),
+        DeclareLaunchArgument('vlm_host', default_value='http://192.168.10.189:8000',
+                              description='VLM 服务器地址'),
+        DeclareLaunchArgument('use_sim_time', default_value='false',
+                              description='使用仿真时间'),
+
+        LogInfo(msg='========================================'),
+        LogInfo(msg='  Robot System Bringup'),
+        LogInfo(msg='========================================'),
+
+        # t=0s: 底盘 + EKF
+        TimerAction(period=0.0, actions=[
+            LogInfo(msg='[1/8] Starting base driver + EKF + TF + IMU ...'),
+            origincar_bringup,
+        ]),
+
+        # t=2s: 激光雷达
+        TimerAction(period=2.0, actions=[
+            LogInfo(msg='[2/8] Starting LiDAR (lsn10) ...'),
+            lidar_launch,
+        ]),
+
+        # t=3s: TTS 服务 + 二维码播报桥接
+        TimerAction(period=3.0, actions=[
+            LogInfo(msg='[3/8] Starting TTS Server + QR-TTS Bridge ...'),
+            tts_server,
+            qr_tts_bridge,
+        ]),
+
+        # t=4s: USB 摄像头 + 二维码识别
+        TimerAction(period=4.0, actions=[
+            LogInfo(msg='[4/8] Starting USB Camera + QR Detection ...'),
+            usb_camera,
+            qr_detect,
+        ]),
+
+        # t=5s: 障碍物检测
+        TimerAction(period=5.0, actions=[
+            LogInfo(msg='[5/8] Starting Obstacle Scanner ...'),
+            obstacle_launch,
+        ]),
+
+        # t=7s: 地图 + AMCL 定位
+        TimerAction(period=7.0, actions=[
+            LogInfo(msg='[6/8] Starting Map Server + AMCL localization ...'),
+            map_server_node,
+            amcl_node,
+            lifecycle_manager,
+        ]),
+
+        # t=9s: 路径规划 + 轨迹跟随
+        TimerAction(period=9.0, actions=[
+            LogInfo(msg='[7/8] Starting Hybrid A* Planner + Pure Pursuit Tracker ...'),
+            planner_node,
+            tracker_node,
+        ]),
+
+        # t=11s: VLM 图生文
+        TimerAction(period=11.0, actions=[
+            LogInfo(msg='[8/8] Starting VLM ...'),
+            vlm_launch,
+        ]),
+
+        LogInfo(msg='========================================'),
+        LogInfo(msg='  All modules started!'),
+        LogInfo(msg='========================================'),
+    ])

src/my_robot_bringup/launch/master_launch.py.bak

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+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+# ============================================================================
+# master_launch.py — 机器人系统总启动文件
+# 启动顺序: origincar_base → LiDAR → EKF → SLAM → Nav2 → VLM_Detect
+# 用法:
+#   ros2 launch my_robot_bringup master_launch.py
+#   ros2 launch my_robot_bringup master_launch.py use_vlm:=false
+#   ros2 launch my_robot_bringup master_launch.py vlm_host:=http://X.X.X.X:8000
+# ============================================================================
+## 障碍物检测 路径规划 轨迹跟随 重定位
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    TimerAction,
+    LogInfo,
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    # ================================================================
+    # 包路径
+    # ================================================================
+    origincar_dir = get_package_share_directory('origincar_base')
+    lslidar_dir = get_package_share_directory('lslidar_driver')
+    cyy_slam_dir = get_package_share_directory('cyy_slamtoolbox')
+    gc_nav_dir = get_package_share_directory('gc_navigation2_slamtoolbox')
+    vlm_dir = get_package_share_directory('vlm_detect')
+
+    # ================================================================
+    # Launch 参数 — 可通过命令行覆盖
+    # ================================================================
+
+    # 模块开关
+    use_base = LaunchConfiguration('use_base', default='true')
+    use_lidar = LaunchConfiguration('use_lidar', default='true')
+    use_slam = LaunchConfiguration('use_slam', default='true')
+    use_nav2 = LaunchConfiguration('use_nav2', default='true')
+    use_vlm = LaunchConfiguration('use_vlm', default='true')
+    use_tts = LaunchConfiguration('use_tts', default='true')
+
+    # 底盘模式
+    akmcar = LaunchConfiguration('akmcar', default='true')
+    carto_slam = LaunchConfiguration('carto_slam', default='false')
+
+    # SLAM / Nav2 配置文件
+    slam_params_file = LaunchConfiguration('slam_params_file', default=os.path.join(
+        cyy_slam_dir, 'config', 'mapper_params_online_async.yaml'))
+    nav2_params_file = LaunchConfiguration('nav2_params_file', default=os.path.join(
+        gc_nav_dir, 'params', 'gc_navigation_slam.yaml'))
+
+    # VLM 推理服务地址 (Windows WSL)
+    vlm_host = LaunchConfiguration('vlm_host', default='http://192.168.10.189:8000')
+
+    # 通用
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    # ================================================================
+    # 阶段 1: 底盘驱动 + EKF + TF + IMU  (t=0s)
+    #
+    # origincar_bringup 内部已包含:
+    #   - base_serial.launch.py      底盘驱动 (origincar_base_node)
+    #   - robot_mode_description     robot_state_publisher (TF from URDF)
+    #   - imu_filter_madgwick        IMU 姿态滤波
+    #   - robot_localization ekf_node EKF 融合 (odom + IMU → odom_combined)
+    #   - joint_state_publisher      关节状态发布
+    #   - static TF: base_footprint→gyro_link, base_link→laser
+    # ================================================================
+    origincar_bringup = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            origincar_dir, '/launch', '/origincar_bringup.launch.py'
+        ]),
+        condition=IfCondition(use_base),
+        launch_arguments={
+            'akmcar': akmcar,
+            'carto_slam': carto_slam,
+        }.items(),
+    )
+
+    # ================================================================
+    # 阶段 2: 激光雷达  (t=2s)
+    # lsn10_launch.py 启动 LS-N10 型号激光雷达驱动
+    # 如有其他型号，改包名和 launch 文件名即可
+    # ================================================================
+    lidar_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            lslidar_dir, '/launch', '/lsn10_launch.py'
+        ]),
+        condition=IfCondition(use_lidar),
+    )
+
+    # ================================================================
+    # 阶段 3: SLAM Toolbox — 实时建图  (t=5s)
+    # 需要: /scan (LiDAR) + odom→base_link TF (EKF)
+    # 输出: map→odom TF + /map topic
+    # ================================================================
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen',
+        condition=IfCondition(use_slam),
+        parameters=[slam_params_file,
+                     {'use_sim_time': use_sim_time}],
+    )
+
+    # ================================================================
+    # 阶段 4: Nav2 导航栈  (t=8s)
+    # 需要: /map (SLAM) + /scan + 完整 TF 树 (map→odom→base_link→laser)
+    # 输出: /cmd_vel → origincar_base → 底盘运动
+    # ================================================================
+    nav2_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            FindPackageShare('nav2_bringup'), '/launch', '/navigation_launch.py'
+        ]),
+        condition=IfCondition(use_nav2),
+        launch_arguments={
+            'use_sim_time': use_sim_time,
+            'params_file': nav2_params_file,
+        }.items(),
+    )
+
+    # ================================================================
+    # 阶段 5: VLM 图生文 + TTS 语音播报  (t=10s)
+    # 完全独立于导航栈，只依赖 WSL 上 vlm_server.py 已启动
+    # ================================================================
+    vlm_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            vlm_dir, '/launch', '/vlm_detect.launch.py'
+        ]),
+        condition=IfCondition(use_vlm),
+        launch_arguments={
+            'vlm_host': vlm_host,
+            'use_tts': use_tts,
+        }.items(),
+    )
+
+    # ================================================================
+    # 组装 — 按时间线顺序，TimerAction 保证先后
+    # ================================================================
+    return LaunchDescription([
+
+        # —— 参数声明 ——
+        DeclareLaunchArgument('use_base', default_value='true',
+                              description='底盘驱动 + EKF + TF'),
+        DeclareLaunchArgument('use_lidar', default_value='true',
+                              description='激光雷达 (lsn10)'),
+        DeclareLaunchArgument('use_slam', default_value='true',
+                              description='slam_toolbox 建图'),
+        DeclareLaunchArgument('use_nav2', default_value='true',
+                              description='Nav2 导航栈'),
+        DeclareLaunchArgument('use_vlm', default_value='true',
+                              description='VLM 图生文 + TTS'),
+        DeclareLaunchArgument('use_tts', default_value='true',
+                              description='TTS 语音播报开关'),
+        DeclareLaunchArgument('akmcar', default_value='true',
+                              description='阿克曼底盘 (true=阿克曼, false=差速)'),
+        DeclareLaunchArgument('carto_slam', default_value='false',
+                              description='使用 Cartographer 替代 EKF'),
+        DeclareLaunchArgument('slam_params_file', default_value=os.path.join(
+            cyy_slam_dir, 'config', 'mapper_params_online_async.yaml'),
+                              description='SLAM 参数文件'),
+        DeclareLaunchArgument('nav2_params_file', default_value=os.path.join(
+            gc_nav_dir, 'params', 'gc_navigation_slam.yaml'),
+                              description='Nav2 参数文件'),
+        DeclareLaunchArgument('vlm_host', default_value='http://192.168.10.189:8000',
+                              description='VLM 推理服务地址'),
+        DeclareLaunchArgument('use_sim_time', default_value='false',
+                              description='使用仿真时间'),
+
+        # —— 时间线日志 ——
+        LogInfo(msg='========================================'),
+        LogInfo(msg='  Robot System Bringup'),
+        LogInfo(msg='========================================'),
+
+        # t=0s: 底盘 + EKF
+        TimerAction(period=0.0, actions=[
+            LogInfo(msg='[1/5] Starting base driver + EKF + TF + IMU ...'),
+            origincar_bringup,
+        ]),
+
+        # t=2s: 激光雷达
+        TimerAction(period=2.0, actions=[
+            LogInfo(msg='[2/5] Starting LiDAR (lsn10) ...'),
+            lidar_launch,
+        ]),
+
+        # t=5s: SLAM
+        TimerAction(period=5.0, actions=[
+            LogInfo(msg='[3/5] Starting slam_toolbox ...'),
+            slam_toolbox_node,
+        ]),
+
+        # t=8s: Nav2
+        TimerAction(period=8.0, actions=[
+            LogInfo(msg='[4/5] Starting Nav2 navigation ...'),
+            nav2_launch,
+        ]),
+
+        # t=10s: VLM
+        TimerAction(period=10.0, actions=[
+            LogInfo(msg='[5/5] Starting VLM + TTS ...'),
+            vlm_launch,
+        ]),
+
+        LogInfo(msg='========================================'),
+        LogInfo(msg='  All modules started!'),
+        LogInfo(msg='========================================'),
+    ])

src/my_robot_bringup/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>my_robot_bringup</name>
+  <version>1.0.0</version>
+  <description>Master launch file for the entire robot system</description>
+  <maintainer email="sunrise@todo.todo">sunrise</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <exec_depend>origincar_base</exec_depend>
+  <exec_depend>lslidar_driver</exec_depend>
+  <exec_depend>slam_toolbox</exec_depend>
+  <exec_depend>nav2_bringup</exec_depend>
+  <exec_depend>vlm_detect</exec_depend>
+  <exec_depend>robot_localization</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/my_robot_bringup/setup.py

@@ -0,0 +1,21 @@
+from setuptools import setup
+from glob import glob
+import os
+
+package_name = 'my_robot_bringup'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=[],
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', glob('launch/*.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sunrise',
+    maintainer_email='sunrise@todo.todo',
+    description='Master bringup for robot system',
+    license='Apache-2.0',
+)

src/navigation/gc_navigation2_real/launch/real_mapping.launch.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+# ============================================================================
+# real_slam_mapping.launch.py
+# 功能：实车 SLAM 建图启动文件（无 Gazebo 仿真）
+#
+# 适用场景：
+#   - 在实际场地遥控机器人建立环境地图
+#   - 在已有地图基础上增量更新
+#   - 单独调试 slam_toolbox 建图参数
+#
+# 架构：
+#   origincar_base (bringup)    — 底盘串口驱动 + EKF 里程计 + IMU 滤波 + TF
+#   lslidar_driver             — 镭神激光雷达驱动 → /scan
+#   async_slam_toolbox_node    — 激光 SLAM 建图（mapping 模式）
+#                                 发布 map→odom_combined TF
+#                                 发布 /map 话题（实时地图）
+#
+# 使用方式：
+#   ros2 launch gc_navigation2_real real_slam_mapping.launch.py
+#
+# 保存地图：
+#   ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph \
+#     "{filename: '/home/guoch/test_ws/src/gc_navigation2_real/maps/my_map'}"
+#   ros2 run nav2_map_server map_saver_cli -f <map_name>
+# ============================================================================
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    """生成 LaunchDescription，启动实车底盘 + 雷达 + slam_toolbox 建图"""
+
+    # ============================ 1. 包路径 =========================================
+    pkg_dir = get_package_share_directory('gc_navigation2_real')
+    origincar_base_dir = get_package_share_directory('origincar_base')
+
+    # ============================ 2. 声明启动参数 ====================================
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    # slam_params_file: slam_toolbox 配置文件
+    # slam_params_file = LaunchConfiguration(
+    #     'slam_params_file',
+    #     default=os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml'))
+
+    # map_file_name: 可选，加载已有序列化地图继续建图
+    map_file_name = LaunchConfiguration('map_file_name', default='')
+
+    # ============================ 3. 实车底盘 bringup ===============================
+    # 启动 origincar_base：串口驱动 + EKF + IMU 滤波 + TF 发布
+    # 注：origincar_bringup 已包含 robot_state_publisher + joint_state_publisher + 静态 TF
+    origincar_bringup = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']),
+    )
+
+    # ============================ 4. 镭神激光雷达驱动 ===============================
+    # 启动 lslidar_driver → /scan 话题
+    lslidar_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [get_package_share_directory('lslidar_driver'),
+             '/launch', '/lsn10_launch.py']),
+    )
+
+    # ============================ 5. slam_toolbox 建图节点 ============================
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen',
+        parameters=[
+            slam_params_file,
+            {
+                'use_sim_time': False,
+                'map_file_name': map_file_name,
+            },
+        ],
+    )
+
+    # ============================ 6. 组装 LaunchDescription =========================
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='使用仿真时间（实车必须为 false）'),
+        DeclareLaunchArgument(
+            'slam_params_file',
+            default_value=os.path.join(pkg_dir, 'config', 'slam_toolbox_async_real.yaml'),
+            description='slam_toolbox 参数配置文件路径'),
+        DeclareLaunchArgument(
+            'map_file_name',
+            default_value='',
+            description='已有序列化地图路径（.posegraph），留空则从零开始建图'),
+
+        origincar_bringup,
+        lslidar_launch,
+        slam_toolbox_node,
+    ])