Add lider ROS node and move robot control into its own directory

2026-04-21 11:39:01 +00:00
parent 1d49e45240
commit f5ea157e21
28 changed files with 221 additions and 31 deletions
@@ -0,0 +1,59 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+
+        # ── Motor controller arguments ────────────────────────────────────
+        DeclareLaunchArgument('wheel_base', default_value='0.3',
+                              description='Distance between left and right wheels (m)'),
+        DeclareLaunchArgument('max_speed',  default_value='1.0',
+                              description='Maximum motor speed in library units'),
+
+        # ── Ultrasonic sensor arguments ───────────────────────────────────
+        DeclareLaunchArgument('ultrasonic_rate_hz', default_value='10.0',
+                              description='Ultrasonic sensor publish rate (Hz)'),
+
+        # ── Camera orientation arguments ──────────────────────────────────
+        DeclareLaunchArgument('pan_center_deg',  default_value='90.0',
+                              description='Pan angle at startup and shutdown (degrees)'),
+        DeclareLaunchArgument('tilt_center_deg', default_value='60.0',
+                              description='Tilt angle at startup and shutdown (degrees)'),
+
+        # ── Nodes ─────────────────────────────────────────────────────────
+        Node(
+            package='raspbot_v2',
+            executable='motor_controller',
+            name='motor_controller',
+            parameters=[{
+                'wheel_base': LaunchConfiguration('wheel_base'),
+                'max_speed':  LaunchConfiguration('max_speed'),
+            }],
+            output='screen',
+        ),
+
+        Node(
+            package='raspbot_v2',
+            executable='camera_orientation',
+            name='camera_orientation',
+            parameters=[{
+                'pan_center_deg':  LaunchConfiguration('pan_center_deg'),
+                'tilt_center_deg': LaunchConfiguration('tilt_center_deg'),
+            }],
+            output='screen',
+        ),
+
+        Node(
+            package='raspbot_v2',
+            executable='ultrasonic',
+            name='ultrasonic',
+            parameters=[{
+                'publish_rate_hz': LaunchConfiguration('ultrasonic_rate_hz'),
+            }],
+            output='screen',
+        ),
+
+    ])