xs
47 lines
1.8 KiB
Python
47 lines
1.8 KiB
Python
"""full_demo_launch.py - 同时启动所有 11 个节点。
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节点组合:
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- 2 Publisher(py + cpp)
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- 2 Subscriber(py + cpp)
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- 1 AddTwoInts server
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- 1 Fibonacci server
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- 1 JointState publisher(C++)
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- 1 robot_state_publisher(系统包)
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- 1 TF2 listener(C++)
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- 1 fake_camera(Python)
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- 1 image_processor(Python)
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总计:11 个 ROS2 节点同时运行。
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"""
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description() -> LaunchDescription:
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"""生成启动描述:11 节点全开(每个子场景独立 launch)。"""
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pubsub_launch = PathJoinSubstitution([
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FindPackageShare('bringup'), 'launch', 'pubsub_launch.py',
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])
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service_launch = PathJoinSubstitution([
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FindPackageShare('bringup'), 'launch', 'service_launch.py',
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])
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action_launch = PathJoinSubstitution([
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FindPackageShare('bringup'), 'launch', 'action_launch.py',
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])
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robot_launch = PathJoinSubstitution([
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FindPackageShare('bringup'), 'launch', 'robot_launch.py',
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])
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vision_launch = PathJoinSubstitution([
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FindPackageShare('bringup'), 'launch', 'vision_launch.py',
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])
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return LaunchDescription([
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IncludeLaunchDescription(PythonLaunchDescriptionSource(pubsub_launch)),
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IncludeLaunchDescription(PythonLaunchDescriptionSource(service_launch)),
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IncludeLaunchDescription(PythonLaunchDescriptionSource(action_launch)),
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IncludeLaunchDescription(PythonLaunchDescriptionSource(robot_launch)),
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IncludeLaunchDescription(PythonLaunchDescriptionSource(vision_launch)),
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]) |