add：添加了实车模式，未验证

src/gc_navigation2_real/launch/real_bringup.launch.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+# ============================================================================
+# real_bringup.launch.py
+# 功能：实车基础 bringup — 底盘驱动 + 激光雷达 + TF 树
+#
+# 适用场景：
+#   - 单独调试底盘通信和传感器数据
+#   - 遥控测试（无导航）
+#   - 作为其他 launch 文件的基础模块
+#
+# 启动内容：
+#   origincar_base bringup   — 串口驱动 + EKF + IMU 滤波 + TF + robot_state_publisher
+#   lslidar_driver          — 镭神激光雷达 → /scan
+#
+# 使用方式：
+#   ros2 launch gc_navigation2_real real_bringup.launch.py
+# ============================================================================
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    """生成 LaunchDescription，启动实车底盘 + 雷达 + TF（无导航）"""
+
+    # ============================ 1. 包路径 =========================================
+    origincar_base_dir = get_package_share_directory('origincar_base')
+
+    # ============================ 2. 实车底盘 bringup ===============================
+    # 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']),
+    )
+
+    # ============================ 3. 镭神激光雷达驱动 ===============================
+    lslidar_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [get_package_share_directory('lslidar_driver'),
+             '/launch', '/lsn10_launch.py']),
+    )
+
+    # ============================ 4. 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）'),
+
+        origincar_bringup,
+        lslidar_launch,
+    ])