112 lines
3.5 KiB
Python
112 lines
3.5 KiB
Python
from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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# 声明启动参数 - 基本设置
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send_frequency_arg = DeclareLaunchArgument(
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'send_frequency',
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default_value='50.0',
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description='CAN 发送频率 (Hz)'
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)
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tx_channel_arg = DeclareLaunchArgument(
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'tx_channel',
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default_value='0',
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description='CAN 发送通道 (0 或 1)'
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)
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rx_channel_arg = DeclareLaunchArgument(
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'rx_channel',
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default_value='1',
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description='CAN 接收通道 (0 或 1)'
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)
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# 声明启动参数 - CAN ID 设置
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can_id_motion_arg = DeclareLaunchArgument(
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'can_id_motion',
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default_value='329', # 0x149 = 329
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description='运动控制 CAN ID (十进制，默认 0x149=329)'
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)
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can_id_attack_arg = DeclareLaunchArgument(
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'can_id_attack',
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default_value='393', # 0x189 = 393
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description='攻击控制 CAN ID (十进制，默认 0x189=393)'
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)
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# 声明启动参数 - CAN 帧格式
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use_extended_frame_arg = DeclareLaunchArgument(
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'use_extended_frame',
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default_value='false',
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description='是否使用扩展帧(29位ID)，false=标准帧(11位)'
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)
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use_canfd_arg = DeclareLaunchArgument(
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'use_canfd',
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default_value='false',
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description='是否使用 CANFD，false=CAN2.0'
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)
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use_brs_arg = DeclareLaunchArgument(
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'use_brs',
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default_value='false',
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description='CANFD 是否启用波特率切换(BRS)'
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)
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# 声明启动参数 - 接收过滤
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rx_filter_enabled_arg = DeclareLaunchArgument(
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'rx_filter_enabled',
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default_value='false',
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description='是否启用接收 ID 过滤'
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)
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rx_filter_id_min_arg = DeclareLaunchArgument(
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'rx_filter_id_min',
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default_value='0',
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description='接收过滤 ID 最小值'
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)
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rx_filter_id_max_arg = DeclareLaunchArgument(
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'rx_filter_id_max',
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default_value='2047', # 0x7FF
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description='接收过滤 ID 最大值'
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)
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# 创建节点
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transmitter_test_node = Node(
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package='amadeus_26',
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executable='transmitter_test_node',
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name='transmitter_test_node',
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output='screen',
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parameters=[{
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'send_frequency': LaunchConfiguration('send_frequency'),
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'tx_channel': LaunchConfiguration('tx_channel'),
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'rx_channel': LaunchConfiguration('rx_channel'),
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'can_id_motion': LaunchConfiguration('can_id_motion'),
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'can_id_attack': LaunchConfiguration('can_id_attack'),
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'use_extended_frame': LaunchConfiguration('use_extended_frame'),
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'use_canfd': LaunchConfiguration('use_canfd'),
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'use_brs': LaunchConfiguration('use_brs'),
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'rx_filter_enabled': LaunchConfiguration('rx_filter_enabled'),
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'rx_filter_id_min': LaunchConfiguration('rx_filter_id_min'),
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'rx_filter_id_max': LaunchConfiguration('rx_filter_id_max'),
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}],
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)
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return LaunchDescription([
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send_frequency_arg,
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tx_channel_arg,
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rx_channel_arg,
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can_id_motion_arg,
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can_id_attack_arg,
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use_extended_frame_arg,
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use_canfd_arg,
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use_brs_arg,
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rx_filter_enabled_arg,
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rx_filter_id_min_arg,
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rx_filter_id_max_arg,
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transmitter_test_node,
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]) |