流程通

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

@@ -51,6 +51,21 @@ def generate_launch_description():
         default_value='/mavros/global_position/global',
         description='GPS Topic 名称'
     )
+    # ========================================================================
+    # 相机 节点
+    # ========================================================================
+
+    camera_driver_node = Node(
+        package='usb_cam',
+        executable='usb_cam_node_exe',
+        name='camera_driver',
+        output='screen',
+        parameters=[config_file],
+        # 如果驱动发的是 /image_raw，我们把它改名为 /camera/image_raw
+        remappings=[
+            ('/image_raw', LaunchConfiguration('camera_topic'))
+        ]
+    )
     
     # ========================================================================
     # UDP Sender 节点
@@ -87,5 +102,6 @@ def generate_launch_description():
         jpeg_quality_arg,
         camera_topic_arg,
         gps_topic_arg,
+        camera_driver_node,
         udp_sender_node,
     ])