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Changes to be committed:
	modified:   src/my_robot_bringup/launch/master_launch.py
	deleted:    src/obs.zip
	modified:   src/vlm_detect/launch/vlm_detect.launch.py
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2026-07-24 17:13:05 +08:00
parent cf86e01984
commit 0c09a97e7f
3 changed files with 14 additions and 23 deletions
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8
src/vlm_detect/launch/vlm_detect.launch.py
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@@ -2,13 +2,13 @@
# -*- coding: utf-8 -*-
"""
vlm_detect 启动文件
同时启动 vlm_node (图生文) + tts_server (语音播报服务) + qr_tts_bridge (二维码播报)
同时启动 vlm_node (图生文) + tts_server (语音播报服务)
用法:
ros2 launch vlm_detect vlm_detect.launch.py # 默认全部
ros2 launch vlm_detect vlm_detect.launch.py vlm_host:=http://... # 指定 VLM 服务地址
ros2 launch vlm_detect vlm_detect.launch.py use_tts:=false # 关闭语音播报
ros2 launch vlm_detect vlm_detect.launch.py use_qr_tts:=false # 关闭二维码播报桥接
ros2 launch vlm_detect vlm_detect.launch.py use_qr_tts:=true # 兼容旧二维码播报桥接
ros2 launch vlm_detect vlm_detect.launch.py use_vlm:=false # 只启动语音服务
"""
@@ -55,8 +55,8 @@ def generate_launch_description():
description='启动 TTS 语音播报服务')
declare_use_qr_tts = DeclareLaunchArgument(
'use_qr_tts', default_value='true',
description='启动二维码 → TTS 桥接节点')
'use_qr_tts', default_value='false',
description='启动旧二维码 → TTS 桥接节点')
declare_config_file = DeclareLaunchArgument(
'config_file',