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