初步更改

launch/uart_transmitter.launch.py

@@ -0,0 +1,102 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    # 声明启动参数
+    serial_port_arg = DeclareLaunchArgument(
+        'serial_port',
+        default_value='/dev/ttyUSB0',
+        description='CH340 串口设备路径'
+    )
+    
+    baudrate_arg = DeclareLaunchArgument(
+        'baudrate',
+        default_value='921600',
+        description='串口波特率'
+    )
+    
+    send_frequency_arg = DeclareLaunchArgument(
+        'send_frequency',
+        default_value='50.0',
+        description='发送频率 (Hz)'
+    )
+    
+    # 控制参数
+    x_move_arg = DeclareLaunchArgument(
+        'x_move',
+        default_value='0',
+        description='平动左右 [-660, 660]'
+    )
+    
+    y_move_arg = DeclareLaunchArgument(
+        'y_move',
+        default_value='0',
+        description='平动前后 [-660, 660]'
+    )
+    
+    yaw_arg = DeclareLaunchArgument(
+        'yaw',
+        default_value='0',
+        description='云台偏航 [-660, 660]'
+    )
+    
+    pitch_arg = DeclareLaunchArgument(
+        'pitch',
+        default_value='0',
+        description='云台俯仰 [-660, 660]'
+    )
+    
+    feed_arg = DeclareLaunchArgument(
+        'feed',
+        default_value='0',
+        description='拨弹轮 [-660, 660]'
+    )
+    
+    left_switch_arg = DeclareLaunchArgument(
+        'left_switch',
+        default_value='0',
+        description='左拨杆 [0, 15]'
+    )
+    
+    right_switch_arg = DeclareLaunchArgument(
+        'right_switch',
+        default_value='0',
+        description='右拨杆 [0, 15]'
+    )
+
+    # 创建节点
+    uart_transmitter_node = Node(
+        package='amadeus_26',
+        executable='uart_transmitter_node',
+        name='uart_transmitter_node',
+        output='screen',
+        parameters=[{
+            'serial_port': LaunchConfiguration('serial_port'),
+            'baudrate': LaunchConfiguration('baudrate'),
+            'send_frequency': LaunchConfiguration('send_frequency'),
+            'x_move': LaunchConfiguration('x_move'),
+            'y_move': LaunchConfiguration('y_move'),
+            'yaw': LaunchConfiguration('yaw'),
+            'pitch': LaunchConfiguration('pitch'),
+            'feed': LaunchConfiguration('feed'),
+            'left_switch': LaunchConfiguration('left_switch'),
+            'right_switch': LaunchConfiguration('right_switch'),
+        }],
+    )
+
+    return LaunchDescription([
+        serial_port_arg,
+        baudrate_arg,
+        send_frequency_arg,
+        x_move_arg,
+        y_move_arg,
+        yaw_arg,
+        pitch_arg,
+        feed_arg,
+        left_switch_arg,
+        right_switch_arg,
+        uart_transmitter_node,
+    ])