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