导航与中央节点初步实现（未测试）

launch/amadeus_26.launch.py

@@ -0,0 +1,84 @@
+"""
+Amadeus 26 哨兵机器人启动文件
+启动所有核心节点：IMU接收、中央控制、导航、UART收发
+"""
+
+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
+    enemy_color_arg = DeclareLaunchArgument(
+        'enemy_color',
+        default_value='red',
+        description='敌方装甲板颜色 (red/blue)'
+    )
+    
+    # IMU接收节点
+    imu_receiver_node = Node(
+        package='amadeus_26',
+        executable='imu_receiver_node',
+        name='imu_receiver_node',
+        output='screen',
+        parameters=[{
+            'serial_port': '/dev/ttyIMU',
+            'baudrate': 921600,
+            'verbose': False,
+        }]
+    )
+    
+    # 中央节点
+    central_node = Node(
+        package='amadeus_26',
+        executable='central_node',
+        name='central_node',
+        output='screen',
+        parameters=[{
+            'enemy_color': LaunchConfiguration('enemy_color'),
+            'max_hp': 100,
+            'low_hp_threshold': 50,
+            'control_freq': 50.0,
+        }]
+    )
+    
+    # 导航节点
+    navigation_node = Node(
+        package='amadeus_26',
+        executable='navigation_node',
+        name='navigation_node',
+        output='screen',
+        parameters=[{
+            'map_width': 12.0,
+            'map_height': 8.0,
+            'robot_radius': 0.375,
+            'max_speed': 2.0,
+            'nav_freq': 50.0,
+            'init_x': 0.375,
+            'init_y': 6.375,
+            'init_heading': 0.0,
+        }]
+    )
+    
+    # UART收发节点
+    uart_transmitter_node = Node(
+        package='amadeus_26',
+        executable='uart_transmitter_node',
+        name='uart_transmitter_node',
+        output='screen',
+        parameters=[{
+            'serial_port': '/dev/ttyCH340',
+            'baudrate': 115200,
+            'send_frequency': 50.0,
+        }]
+    )
+    
+    return LaunchDescription([
+        enemy_color_arg,
+        imu_receiver_node,
+        central_node,
+        navigation_node,
+        uart_transmitter_node,
+    ])