init

skylink_ros2/src/skylink_bridge/launch/bridge.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+import os
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    """
+    SkyLink Bridge 启动配置
+    
+    用法:
+        ros2 launch skylink_bridge bridge.launch.py
+        ros2 launch skylink_bridge bridge.launch.py target_ip:=192.168.1.100 jpeg_quality:=80
+    """
+    
+    # 获取包共享目录
+    pkg_share_dir = get_package_share_directory('skylink_bridge')
+    config_file = os.path.join(pkg_share_dir, 'config', 'params.yaml')
+    
+    # ========================================================================
+    # 启动参数声明 (可通过命令行覆盖)
+    # ========================================================================
+    
+    target_ip_arg = DeclareLaunchArgument(
+        'target_ip',
+        default_value='255.255.255.255',
+        description='目标 IP 地址 (广播)'
+    )
+    
+    target_port_arg = DeclareLaunchArgument(
+        'target_port',
+        default_value='9999',
+        description='UDP 目标端口'
+    )
+    
+    jpeg_quality_arg = DeclareLaunchArgument(
+        'jpeg_quality',
+        default_value='70',
+        description='JPEG 压缩质量 (1-100)'
+    )
+    
+    camera_topic_arg = DeclareLaunchArgument(
+        'camera_topic',
+        default_value='/camera/image_raw',
+        description='相机 Topic 名称'
+    )
+    
+    gps_topic_arg = DeclareLaunchArgument(
+        'gps_topic',
+        default_value='/mavros/global_position/global',
+        description='GPS Topic 名称'
+    )
+    
+    # ========================================================================
+    # UDP Sender 节点
+    # ========================================================================
+    
+    udp_sender_node = Node(
+        package='skylink_bridge',
+        executable='udp_sender_node',
+        name='udp_sender',
+        output='screen',
+        parameters=[
+            config_file,  # 从 YAML 配置文件加载参数
+            {
+                'target_ip': LaunchConfiguration('target_ip'),
+                'target_port': LaunchConfiguration('target_port'),
+                'jpeg_quality': LaunchConfiguration('jpeg_quality'),
+                'camera_topic': LaunchConfiguration('camera_topic'),
+                'gps_topic': LaunchConfiguration('gps_topic'),
+            }
+        ],
+        remappings=[
+            # 如果需要重映射 Topic，在此添加
+            # ('/camera/image_raw', '/my_camera/image'),
+        ]
+    )
+    
+    # ========================================================================
+    # 构造启动描述
+    # ========================================================================
+    
+    return LaunchDescription([
+        target_ip_arg,
+        target_port_arg,
+        jpeg_quality_arg,
+        camera_topic_arg,
+        gps_topic_arg,
+        udp_sender_node,
+    ])