55 lines
2.2 KiB
Python
55 lines
2.2 KiB
Python
#!/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,
|
||
])
|