修改自定义消息

build.sh

@@ -0,0 +1,2 @@
+source install/setup.bash 
+colcon build

src/ps2_controller/CMakeLists.txt

@@ -15,6 +15,10 @@ add_executable(ps2_reader src/ps2_reader.cpp)
 
 ament_target_dependencies(ps2_reader rclcpp rc_msgs)  # 添加 rc_msgs 依赖
 
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 install(TARGETS
   ps2_reader
   DESTINATION lib/${PROJECT_NAME})

src/ps2_controller/launch/ps2_controller.launch.py

@@ -0,0 +1,15 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='ps2_controller',
+            executable='ps2_reader',
+            name='ps2_controller_node',
+            output='screen',
+            parameters=[
+                {'device': '/dev/input/js0'}  # 可根据需要修改设备路径
+            ]
+        )
+    ])

src/rc_msgs/CMakeLists.txt

@@ -7,6 +7,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
         "msg/DataControl.msg"
         "msg/DataMotor.msg"
         "msg/DataLeg.msg"
+        "msg/DataMotors.msg"
+        "msg/MotorCmd.msg"
+        "msg/MotorCmds.msg"
 )
 
 ament_package()

src/rc_msgs/msg/DataMotors.msg

@@ -0,0 +1,3 @@
+DataMotor data_motor_0
+DataMotor data_motor_1
+DataMotor data_motor_2

src/rc_msgs/msg/MotorCmd.msg

@@ -0,0 +1,5 @@
+float32 tau
+float32 vw
+float32 pos
+float32 kp
+float32 kd

src/rc_msgs/msg/MotorCmds.msg

@@ -0,0 +1,3 @@
+MotorCmd motor_cmd_0
+MotorCmd motor_cmd_1
+MotorCmd motor_cmd_2

src/robot_bringup/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_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)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/robot_bringup/launch/robot_bringup.launch.py

@@ -0,0 +1,116 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    # 定义 leg_ctrl 的四个容器节点
+    lf_container = ComposableNodeContainer(
+        name='lf_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_lf',
+                parameters=[{'serial_port': '/dev/ttyACM0'}],
+                remappings=[
+                    ('data_leg_control', 'LF/data_leg_control'),
+                    ('data_leg_motor', 'LF/data_leg_motor')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    rf_container = ComposableNodeContainer(
+        name='rf_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_rf',
+                parameters=[{'serial_port': '/dev/ttyACM1'}],
+                remappings=[
+                    ('data_leg_control', 'RF/data_leg_control'),
+                    ('data_leg_motor', 'RF/data_leg_motor')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    lr_container = ComposableNodeContainer(
+        name='lr_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_lr',
+                parameters=[{'serial_port': '/dev/ttyACM2'}],
+                remappings=[
+                    ('data_leg_control', 'LR/data_leg_control'),
+                    ('data_leg_motor', 'LR/data_leg_motor')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    rr_container = ComposableNodeContainer(
+        name='rr_motor_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver_rr',
+                parameters=[{'serial_port': '/dev/ttyACM3'}],
+                remappings=[
+                    ('data_leg_control', 'RR/data_leg_control'),
+                    ('data_leg_motor', 'RR/data_leg_motor')
+                ]
+            )
+        ],
+        output='screen',
+    )
+
+    # 定义 ahrs_driver 节点
+    ahrs_driver = Node(
+        package="fdilink_ahrs",
+        executable="ahrs_driver_node",
+        parameters=[{
+            'if_debug_': False,
+            'serial_port_': '/dev/ttyUSB0',
+            'serial_baud_': 921600,
+            'imu_topic': '/imu',
+            'imu_frame_id_': 'gyro_link',
+            'mag_pose_2d_topic': '/mag_pose_2d',
+            'Magnetic_topic': '/magnetic',
+            'Euler_angles_topic': '/euler_angles',
+            'gps_topic': '/gps/fix',
+            'twist_topic': '/system_speed',
+            'NED_odom_topic': '/NED_odometry',
+            'device_type_': 1
+        }],
+        output="screen"
+    )
+
+    # 返回主启动文件的描述
+    return LaunchDescription([
+        lf_container,
+        rf_container,
+        lr_container,
+        rr_container,
+        ahrs_driver
+    ])

src/robot_bringup/package.xml

@@ -0,0 +1,20 @@
+<?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>robot_bringup</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="1683502971@qq.com">robofish</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>launch</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>