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@@ -1,20 +1,7 @@
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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vlm_detect 启动文件
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同时启动 vlm_node (图生文) + tts_server (语音播报服务)
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用法:
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ros2 launch vlm_detect vlm_detect.launch.py # 默认全部
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ros2 launch vlm_detect vlm_detect.launch.py vlm_host:=http://... # 指定 VLM 服务地址
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ros2 launch vlm_detect vlm_detect.launch.py use_tts:=false # 关闭语音播报
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ros2 launch vlm_detect vlm_detect.launch.py use_qr_tts:=true # 兼容旧二维码播报桥接
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ros2 launch vlm_detect vlm_detect.launch.py use_vlm:=false # 只启动语音服务
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"""
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, LogInfo
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from launch.conditions import IfCondition
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@@ -23,15 +10,11 @@ from launch_ros.actions import Node
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def generate_launch_description():
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# ==================== Launch 参数 ====================
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use_vlm = LaunchConfiguration('use_vlm')
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use_tts = LaunchConfiguration('use_tts')
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use_qr_tts = LaunchConfiguration('use_qr_tts')
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config_file = LaunchConfiguration('config_file')
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# vlm_node 可覆盖参数
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vlm_host = LaunchConfiguration('vlm_host')
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vlm_model = LaunchConfiguration('vlm_model')
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image_topic = LaunchConfiguration('image_topic')
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@@ -40,68 +23,31 @@ def generate_launch_description():
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result_topic = LaunchConfiguration('result_topic')
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prompt_text = LaunchConfiguration('prompt_text')
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max_tokens = LaunchConfiguration('max_tokens')
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image_max_dim = LaunchConfiguration('image_max_dim')
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# tts_server 可覆盖参数
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audio_sink = LaunchConfiguration('audio_sink')
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tts_speed = LaunchConfiguration('tts_speed')
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# ==================== 参数声明 ====================
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declare_use_vlm = DeclareLaunchArgument(
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'use_vlm', default_value='true',
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description='启动 VLM 图生文节点')
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declare_use_tts = DeclareLaunchArgument(
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'use_tts', default_value='true',
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description='启动 TTS 语音播报服务')
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declare_use_qr_tts = DeclareLaunchArgument(
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'use_qr_tts', default_value='false',
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description='启动旧二维码 → TTS 桥接节点')
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declare_config_file = DeclareLaunchArgument(
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'config_file',
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declare_use_vlm = DeclareLaunchArgument('use_vlm', default_value='true')
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declare_use_tts = DeclareLaunchArgument('use_tts', default_value='true')
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declare_use_qr_tts = DeclareLaunchArgument('use_qr_tts', default_value='false')
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declare_config_file = DeclareLaunchArgument('config_file',
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default_value=PathJoinSubstitution([
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get_package_share_directory('vlm_detect'), 'config', 'vlm_detect.yaml'
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]),
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description='YAML 配置文件路径')
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get_package_share_directory('vlm_detect'), 'config', 'vlm_detect.yaml']))
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# vlm_node 参数
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declare_vlm_host = DeclareLaunchArgument(
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'vlm_host', default_value='http://192.168.10.189:8000',
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description='VLM 服务器地址')
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declare_vlm_model = DeclareLaunchArgument(
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'vlm_model', default_value='/home/wisdom/models/gguf/Qwen2-VL-2B-Instruct-Q4_K_M.gguf',
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description='VLM 模型名称')
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declare_image_topic = DeclareLaunchArgument(
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'image_topic', default_value='/image',
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description='输入的压缩图像话题')
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declare_trigger_topic = DeclareLaunchArgument(
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'trigger_topic', default_value='/sign4return',
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description='输入的触发信号话题')
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declare_trigger_sign = DeclareLaunchArgument(
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'trigger_sign', default_value='9',
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description='触发信号值 (Int32)')
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declare_result_topic = DeclareLaunchArgument(
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'result_topic', default_value='/vlm_result',
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description='输出 VLM 结果的话题')
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declare_prompt_text = DeclareLaunchArgument(
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'prompt_text', default_value='请描述这张图片的内容，用一句简短的话概括，不超过20个字。',
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description='发送给 VLM 的提示词')
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declare_max_tokens = DeclareLaunchArgument(
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'max_tokens', default_value='100',
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description='最大生成 token 数')
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declare_vlm_host = DeclareLaunchArgument('vlm_host', default_value='http://192.168.175.111:8000')
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declare_vlm_model = DeclareLaunchArgument('vlm_model', default_value='/home/wisdom/models/gguf/Qwen2-VL-2B-Instruct-Q4_K_M.gguf')
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declare_image_topic = DeclareLaunchArgument('image_topic', default_value='/image')
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declare_trigger_topic = DeclareLaunchArgument('trigger_topic', default_value='/sign4return')
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declare_trigger_sign = DeclareLaunchArgument('trigger_sign', default_value='9')
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declare_result_topic = DeclareLaunchArgument('result_topic', default_value='/vlm_result')
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declare_prompt_text = DeclareLaunchArgument('prompt_text', default_value='图中是一个2D动漫插画风格的医院病房，有一个病人。请描述这个病人的状态。不要描述边框、背景、环境。20字以内。')
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declare_max_tokens = DeclareLaunchArgument('max_tokens', default_value='100')
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declare_image_max_dim = DeclareLaunchArgument('image_max_dim', default_value='128')
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declare_audio_sink = DeclareLaunchArgument('audio_sink',
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default_value='alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo')
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declare_tts_speed = DeclareLaunchArgument('tts_speed', default_value='1.5')
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# tts_server 参数
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declare_audio_sink = DeclareLaunchArgument(
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'audio_sink',
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default_value='alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo',
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description='音频输出设备 (PulseAudio sink)')
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declare_tts_speed = DeclareLaunchArgument(
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'tts_speed', default_value='1.5',
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description='语速倍率 (0.5~2.0)')
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# ==================== 节点 ====================
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# VLM 图生文节点 (内部自带 TTS 服务客户端)
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vlm_node = Node(
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package='vlm_detect',
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executable='vlm_node',
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@@ -116,11 +62,12 @@ def generate_launch_description():
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'trigger_topic': trigger_topic,
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'trigger_sign': trigger_sign,
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'result_topic': result_topic,
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'prompt_text': prompt_text,
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'max_tokens': max_tokens,
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'image_max_dim': image_max_dim,
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}],
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)
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# TTS 语音播报服务端
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tts_server = Node(
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package='vlm_detect',
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executable='tts_server',
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@@ -134,7 +81,6 @@ def generate_launch_description():
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}],
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)
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# 二维码 → TTS 桥接 (订阅 qr_results，调用 /tts/speak)
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qr_tts_bridge = Node(
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package='vlm_detect',
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executable='qr_tts_bridge',
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@@ -143,9 +89,7 @@ def generate_launch_description():
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condition=IfCondition(use_qr_tts),
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)
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# ==================== 组装 ====================
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return LaunchDescription([
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# 参数声明
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declare_use_vlm,
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declare_use_tts,
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declare_use_qr_tts,
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@@ -158,13 +102,11 @@ def generate_launch_description():
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declare_result_topic,
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declare_prompt_text,
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declare_max_tokens,
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declare_image_max_dim,
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declare_audio_sink,
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declare_tts_speed,
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# 节点
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LogInfo(msg=['配置文件: ', config_file]),
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LogInfo(msg=['VLM 服务: ', vlm_host]),
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LogInfo(msg=['TTS 服务: ', use_tts]),
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LogInfo(msg=['QR-TTS 桥接: ', use_qr_tts]),
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LogInfo(msg=['Config: ', config_file]),
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LogInfo(msg=['VLM Host: ', vlm_host]),
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vlm_node,
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tts_server,
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qr_tts_bridge,
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