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

src/py_srv/launch/srv_launch.py

@@ -1,23 +1,21 @@
-"""
-srv_launch.py —— 启动 add_two_ints 服务端的 launch 文件。
-
-注意:client 不在这里启动,因它是"一次性调用",通常在终端或脚本里跑。
-client 用法:
-    source install/setup.bash
-    ros2 run py_srv add_two_ints_client 1 2       # 默认参数
-    ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 3, b: 5}"
-"""
-
+"""srv_launch.py - 启动 add_two_ints_server。"""
 from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='py_srv',
-            executable='add_two_ints_server',
-            name='add_two_ints_server_py',
-            output='screen',
-        ),
-    ])
+def generate_launch_description() -> LaunchDescription:
+    """生成启动描述:AddTwoIntsServer。"""
+    service_name_arg = LaunchConfiguration('service_name')
+
+    server_node = Node(
+        package='py_srv',
+        executable='add_two_ints_server',
+        name='add_two_ints_server',
+        output='screen',
+        parameters=[{
+            'service_name': service_name_arg,
+        }],
+    )
+
+    return LaunchDescription([server_node])