add：添加了实车模式，未验证

src/origincar_base/launch/base_serial.launch.py

@@ -0,0 +1,47 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition, UnlessCondition
+import launch_ros.actions
+
+def generate_launch_description():
+    akmcar = LaunchConfiguration('akmcar', default='false')
+
+    robot_parameters = [
+        {'usart_port_name': '/dev/ttyACM0',
+         'serial_baud_rate': 115200,
+         'robot_frame_id': 'base_link',
+         'odom_frame_id': 'odom',
+         'cmd_vel': 'cmd_vel',
+         'product_number': 0}
+    ]
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'akmcar',
+            default_value='false',
+            description='Use simulation (Gazebo) clock if true'
+        ),
+
+        launch_ros.actions.Node(
+            condition=IfCondition(akmcar),
+            package='origincar_base',
+            executable='origincar_base_node',
+            parameters=robot_parameters + [{'akm_cmd_vel': 'ackermann_cmd'}],
+            remappings=[('/cmd_vel', 'cmd_vel')],
+        ),
+
+        launch_ros.actions.Node(
+            condition=IfCondition(akmcar),
+            package='origincar_base',
+            executable='cmd_vel_to_ackermann_drive.py',
+            name='cmd_vel_to_ackermann_drive',
+        ),
+
+        launch_ros.actions.Node(
+            condition=UnlessCondition(akmcar),
+            package='origincar_base',
+            executable='origincar_base_node',
+            parameters=robot_parameters + [{'akm_cmd_vel': 'none'}],
+        )
+    ])

src/origincar_base/launch/ekf.launch.py

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+#!/usr/bin/python3
+
+import os
+import launch
+import launch_ros
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    
+    package_name = 'origincar_base'
+    ld =  launch.LaunchDescription()
+    pkg_share = launch_ros.substitutions.FindPackageShare(package=package_name).find(package_name) 
+    robot_localization_file_path = os.path.join(pkg_share, 'config/ekf.yaml')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+      # Start robot localization using an Extended Kalman filter
+    robot_localization_node = Node(
+      package='robot_localization',
+      executable='ekf_node',
+      name='ekf_filter_node',
+      output='screen',
+      remappings=[("odometry/filtered", "odom_combined")],
+      parameters=[
+          robot_localization_file_path,
+          {'use_sim_time': use_sim_time}
+      ])
+
+    ld.add_action(launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='false',
+                                            description='Flag to disable use_sim_time'))
+    ld.add_action(robot_localization_node)
+    return ld

src/origincar_base/launch/origincar_bringup.launch.py

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+import os
+from pathlib import Path
+import launch
+from launch.actions import SetEnvironmentVariable
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, GroupAction,
+                            IncludeLaunchDescription, SetEnvironmentVariable)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import PushRosNamespace
+import launch_ros.actions
+from launch.conditions import UnlessCondition
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('origincar_base')
+    launch_dir = os.path.join(bringup_dir, 'launch')
+    ekf_config = Path(get_package_share_directory('origincar_base'), 'config', 'ekf.yaml')
+    imu_config = Path(get_package_share_directory('origincar_base'), 'config', 'imu.yaml')
+
+    
+    carto_slam = LaunchConfiguration('carto_slam', default='false')
+    carto_slam_dec = DeclareLaunchArgument('carto_slam',default_value='false')
+
+    akmcar = LaunchConfiguration('akmcar', default='true')
+    akmcar_dec = DeclareLaunchArgument('akmcar', default_value='true',
+        description='阿克曼底盘模式 (true=阿克曼, false=差速)')
+            
+    origincar_base = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'base_serial.launch.py')),
+            launch_arguments={'akmcar': akmcar}.items(),
+    )
+
+    choose_car = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'robot_mode_description.launch.py')),
+    )
+
+    
+    base_to_link = launch_ros.actions.Node(
+            package='tf2_ros', 
+            executable='static_transform_publisher', 
+            name='base_to_link',
+            arguments=['0', '0', '0','0', '0','0','base_footprint','base_link'],#arguments=['0.41', '0.12', '0','0', '0','0','base_footprint','base_link'],
+    )
+    
+
+    base_to_gyro = launch_ros.actions.Node(
+            package='tf2_ros', 
+            executable='static_transform_publisher', 
+            name='base_to_gyro',
+            arguments=['0', '0', '0','0', '0','0','base_footprint','gyro_link'],
+    )
+    
+    link_to_laser = launch_ros.actions.Node(
+            package='tf2_ros', 
+            executable='static_transform_publisher', 
+            name='link_to_laser',
+            arguments=['0', '0', '0','0', '0','0','base_link','laser'],
+    )
+
+    imu_filter_node =  launch_ros.actions.Node(
+        package='imu_filter_madgwick',
+        executable='imu_filter_madgwick_node',
+        parameters=[imu_config]
+    )
+    
+    robot_ekf = launch_ros.actions.Node(
+            condition=UnlessCondition(carto_slam),
+            package='robot_localization', 
+            executable='ekf_node', 
+            parameters=[ekf_config],
+            remappings=[("odometry/filtered", "odom_combined")]
+            )
+                              
+    joint_state_publisher_node = launch_ros.actions.Node(
+            package='joint_state_publisher', 
+            executable='joint_state_publisher', 
+            name='joint_state_publisher',
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(carto_slam_dec)
+    ld.add_action(akmcar_dec)
+    ld.add_action(origincar_base)
+    ld.add_action(base_to_link)
+    ld.add_action(base_to_gyro)
+    ld.add_action(joint_state_publisher_node)
+    ld.add_action(choose_car)
+    ld.add_action(imu_filter_node)
+    ld.add_action(robot_ekf)
+
+    return ld
+

src/origincar_base/launch/robot_mode_description.launch.py

@@ -0,0 +1,24 @@
+import os
+from pathlib import Path
+import launch_ros.actions
+import launch
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, GroupAction,LogInfo,
+                            IncludeLaunchDescription, SetEnvironmentVariable)
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+    origincar_description = GroupAction([
+        launch_ros.actions.Node(
+            package='robot_state_publisher', 
+            executable='robot_state_publisher', 
+            name='robot_state_publisher',
+            arguments=[os.path.join(get_package_share_directory('origincar_description'),'urdf','origincar.urdf')]
+        )
+    ])
+ 
+    ld = LaunchDescription()
+
+    ld.add_action(origincar_description)
+    return ld