feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组

src/bringup/README.md

@@ -0,0 +1,57 @@
+# bringup
+
+顶层 launch 聚合包。属于 Level 1 跨包集成层。
+
+## 6 个 launch 文件
+
+| 文件 | 启动节点 | 数量 |
+|---|---|---|
+| `pubsub_launch.py` | py_pubsub + cpp_pubsub 的 pub/sub | 4 |
+| `service_launch.py` | add_two_ints_server | 1 |
+| `action_launch.py` | fibonacci_action_server | 1 |
+| `robot_launch.py` | URDF + JointState + TF(nested `cpp_robot_tf2`) | 3 |
+| `vision_launch.py` | fake_camera + image_processor(nested `py_vision_demo`) | 2 |
+| `full_demo_launch.py` | 上面所有组合 | **11** |
+
+## 关键设计
+
+- **不实现业务节点** — 只用 `IncludeLaunchDescription` 复用其他包的 launch
+- **跨包嵌套** — `robot_launch.py` / `vision_launch.py` 用 `FindPackageShare` + `PythonLaunchDescriptionSource` 引用单包 launch
+- **包名避让** — 包名是 `bringup`,**不是** `launch`(与 ROS2 系统包同名会冲突)
+
+## 运行
+
+```bash
+# 各 demo 单独启动
+ros2 launch bringup pubsub_launch.py
+ros2 launch bringup service_launch.py
+ros2 launch bringup action_launch.py
+ros2 launch bringup robot_launch.py
+ros2 launch bringup vision_launch.py
+
+# 全开(11 节点同时跑)
+ros2 launch bringup full_demo_launch.py
+```
+
+## 验证端到端
+
+```bash
+# 跨包跨语言 Topic:PY + CPP 同时发,listener 都收到
+ros2 launch bringup pubsub_launch.py
+ros2 topic info /chatter -v
+# 预期:Publication count: 2, Subscription count: 2
+
+# Action
+ros2 launch bringup action_launch.py
+ros2 action send_goal /fibonacci example_interfaces/action/Fibonacci "{order: 6}" --feedback
+
+# Service
+ros2 launch bringup service_launch.py
+ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 12, b: 30}"
+# 预期: sum: 42
+```
+
+## 深度学习
+
+- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md) §5.5
+- launch 深度:[`doc/70-launch.md`](../doc/70-launch.md)