add ROS 2 launch scripts for starting the AGV Pro

2025-06-06 13:38:07 +08:00
parent d398ba0a22
commit 9187b9fb85
5 changed files with 107 additions and 16 deletions
@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_pro_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
@@ -0,0 +1,58 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument,IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    port_name_arg = LaunchConfiguration('port_name',default='ttyS0')
+    namespace = LaunchConfiguration('namespace', default='')
+
+    urdf_file = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'urdf',
+        'agv_pro.urdf'
+    )
+
+    with open(urdf_file, 'r') as file:
+        robot_description_content = file.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'port_name', 
+            default_value=port_name_arg,
+            description='port name, e.g. ttyS0'),
+
+        Node(
+            package='agv_pro_base',
+            executable='agv_pro_node',
+            name='agv_pro_node',
+            output='screen',
+            parameters=[{
+                'port_name': port_name_arg,
+                'namespace': namespace,             
+            }],
+        ),
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            parameters=[{'robot_description': robot_description_content}]
+        ),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('lslidar_driver'),'launch'),
+                'lslidar_launch.py'])
+        )
+    ])
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>agv_pro_bringup</name>
+  <version>1.0.0</version>
+  <description>ROS 2 launch scripts for starting the AGV Pro</description>
+  <maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
+  <license>BSD-3-Clause license</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>agv_pro_description</exec_depend>
+  <exec_depend>agv_pro_base</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>