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

src/bringup/launch/full_demo_launch.py

@@ -1,35 +1,47 @@
+"""full_demo_launch.py - 同时启动所有 11 个节点。
+
+节点组合:
+    - 2 Publisher(py + cpp)
+    - 2 Subscriber(py + cpp)
+    - 1 AddTwoInts server
+    - 1 Fibonacci server
+    - 1 JointState publisher(C++)
+    - 1 robot_state_publisher(系统包)
+    - 1 TF2 listener(C++)
+    - 1 fake_camera(Python)
+    - 1 image_processor(Python)
+
+总计:11 个 ROS2 节点同时运行。
 """
-full_demo_launch.py —— 整合所有 demo(全套启动)。
-
-启动的节点:
-    - 4 个 pub/sub 节点(pubsub)
-    - add_two_ints server(srv)
-    - fibonacci action server(action)
-    - 3 节点 URDF TF2(robot)
-    - fake_camera + image_processor(vision)
-
-总计 ~10 个节点同时运行,展示整个 ROS2 通信栈。
-"""
-
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 
-def _include(pkg_name, launch_file):
-    pkg = FindPackageShare(pkg_name)
-    path = PathJoinSubstitution([pkg, 'launch', launch_file])
-    return IncludeLaunchDescription(PythonLaunchDescriptionSource(path))
+def generate_launch_description() -> LaunchDescription:
+    """生成启动描述:11 节点全开(每个子场景独立 launch)。"""
+    pubsub_launch = PathJoinSubstitution([
+        FindPackageShare('bringup'), 'launch', 'pubsub_launch.py',
+    ])
+    service_launch = PathJoinSubstitution([
+        FindPackageShare('bringup'), 'launch', 'service_launch.py',
+    ])
+    action_launch = PathJoinSubstitution([
+        FindPackageShare('bringup'), 'launch', 'action_launch.py',
+    ])
+    robot_launch = PathJoinSubstitution([
+        FindPackageShare('bringup'), 'launch', 'robot_launch.py',
+    ])
+    vision_launch = PathJoinSubstitution([
+        FindPackageShare('bringup'), 'launch', 'vision_launch.py',
+    ])
 
-
-def generate_launch_description():
     return LaunchDescription([
-        _include('py_pubsub',    'pubsub_launch.py'),
-        _include('cpp_pubsub',   'pubsub_launch.py'),
-        _include('py_srv',       'srv_launch.py'),
-        _include('py_action_demo', 'action_launch.py'),
-        _include('cpp_robot_tf2', 'robot_tf2_launch.py'),
-        _include('py_vision_demo', 'vision_launch.py'),
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(pubsub_launch)),
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(service_launch)),
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(action_launch)),
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(robot_launch)),
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(vision_launch)),
     ])