添加了全套任务的包

src/racing_control/launch/racing_control.launch.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+"""Launch the racing_control orchestration node."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_dir = get_package_share_directory("racing_control")
+    default_params = os.path.join(pkg_dir, "config", "racing_control.yaml")
+
+    params_file = LaunchConfiguration("params_file")
+    auto_start = LaunchConfiguration("auto_start")
+
+    racing_control = Node(
+        package="racing_control",
+        executable="racing_control",
+        name="racing_control",
+        output="screen",
+        parameters=[
+            params_file,
+            {
+                "auto_start": auto_start,
+            },
+        ],
+    )
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "params_file",
+                default_value=default_params,
+                description="YAML parameter file for the racing_control node",
+            ),
+            DeclareLaunchArgument(
+                "auto_start",
+                default_value="false",
+                description="Start the race immediately instead of waiting for SPACE",
+            ),
+            racing_control,
+        ]
+    )