vlm和tts

src/my_robot_bringup/launch/master_launch.py

@@ -130,21 +130,21 @@ def generate_launch_description():
 
     # ================================================================
     # 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
+    # car_usb_cam: 使用 hobot_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',
+    usb_camera = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            FindPackageShare('car_usb_cam'), '/launch', '/hobot_usb_cam.launch.py'
+        ]),
         condition=IfCondition(use_qr),
-        parameters=[{
-            'video_device': camera_device,
-            'image_size': [640, 480],
-            'pixel_format': 'YUYV',
-            'framerate': 30.0,
-        }],
+        launch_arguments={
+            'usb_video_device': camera_device,
+            'usb_image_width': '640',
+            'usb_image_height': '480',
+            'usb_framerate': '30',
+            'usb_pixel_format': 'yuyv2rgb',
+        }.items(),
     )
 
     qr_detect = Node(