init: ROS2 learning suite

2026-08-03 18:09:35 +08:00
commit 5ef38ab508
95 changed files with 13322 additions and 0 deletions
@@ -0,0 +1,47 @@
+"""
+pubsub_launch.py —— 同时启动 4 个 pub/sub 节点(2 Python + 2 C++)。
+
+节点:
+    - talker_py     (py_pubsub)
+    - listener_py   (py_pubsub)
+    - talker_cpp    (cpp_pubsub)
+    - listener_cpp  (cpp_pubsub)
+
+全部订阅同一个 topic 'chatter',验证跨语言互通。
+"""
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='py_pubsub',
+            executable='talker',
+            name='talker_py',
+            output='screen',
+            parameters=[{'period_ms': 500, 'topic': 'chatter'}],
+        ),
+        Node(
+            package='py_pubsub',
+            executable='listener',
+            name='listener_py',
+            output='screen',
+            parameters=[{'topic': 'chatter'}],
+        ),
+        Node(
+            package='cpp_pubsub',
+            executable='talker',
+            name='talker_cpp',
+            output='screen',
+            parameters=[{'period_ms': 500, 'topic': 'chatter'}],
+        ),
+        Node(
+            package='cpp_pubsub',
+            executable='listener',
+            name='listener_cpp',
+            output='screen',
+            parameters=[{'topic': 'chatter'}],
+        ),
+    ])