修改成组件形式

src/unitree_motor_serial_driver/CMakeLists.txt

@@ -8,6 +8,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
 # 包含 ROS 2 依赖
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(rc_msgs REQUIRED)
 
@@ -26,20 +27,38 @@ else()
     set(EXTRA_LIBS libUnitreeMotorSDK_Linux64.so)
 endif()
 
-# 添加可执行文件和链接库
+# 创建组件库
-add_executable(goM8010_6_motor src/goM8010_6_motor.cpp)
+add_library(unitree_motor_components SHARED
-ament_target_dependencies(goM8010_6_motor rclcpp rc_msgs)
+  src/unitree_motor_serial_driver.cpp
-target_link_libraries(goM8010_6_motor ${EXTRA_LIBS})
+)
+ament_target_dependencies(unitree_motor_components
+  rclcpp
+  rclcpp_components
+  rc_msgs
+)
+target_link_libraries(unitree_motor_components ${EXTRA_LIBS})
+rclcpp_components_register_nodes(unitree_motor_components
+  "unitree_motor_serial_driver::MotorControlNode"
+)
 
-add_executable(unitree_motor_serial_driver src/unitree_motor_serial_driver.cpp)
+# # 创建独立可执行文件
-ament_target_dependencies(unitree_motor_serial_driver rclcpp rc_msgs)
+# add_executable(goM8010_6_motor src/goM8010_6_motor.cpp)
-target_link_libraries(unitree_motor_serial_driver ${EXTRA_LIBS})
+# ament_target_dependencies(goM8010_6_motor rclcpp rc_msgs)
+# target_link_libraries(goM8010_6_motor ${EXTRA_LIBS})
+
+# 创建节点可执行文件（非组件方式）
+# add_executable(unitree_motor_serial_driver_node src/unitree_motor_serial_driver_node.cpp)
+# target_link_libraries(unitree_motor_serial_driver_node unitree_motor_components)
+# ament_target_dependencies(unitree_motor_serial_driver_node rclcpp)
 
 # 安装目标
 install(TARGETS
-  goM8010_6_motor
+  # goM8010_6_motor
-  unitree_motor_serial_driver
+  # unitree_motor_serial_driver_node
-  DESTINATION lib/${PROJECT_NAME}
+  unitree_motor_components
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
 )
 
 install(DIRECTORY launch/

src/unitree_motor_serial_driver/include/unitree_motor_serial_driver/unitree_motor_serial_driver.hpp

@@ -22,7 +22,7 @@ Motor_t motor[3]; // 修改为数组以支持多个电机
 class MotorControlNode : public rclcpp::Node
 {
 public:
-    MotorControlNode();
+    explicit MotorControlNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
     
 private:
     void control_motor();

src/unitree_motor_serial_driver/launch/unitree_motor_serial_driver.launch.py

@@ -1,15 +1,28 @@
 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():
-    return LaunchDescription([
+    container = ComposableNodeContainer(
-        Node(
+        name='motor_container',
-            package='unitree_motor_serial_driver',
+        namespace='',
-            executable='unitree_motor_serial_driver',
+        package='rclcpp_components',
-            name='unitree_motor_serial_driver',
+        executable='component_container',
-            output='screen',
+        composable_node_descriptions=[
-            parameters=[
+            ComposableNode(
+                package='unitree_motor_serial_driver',
+                plugin='unitree_motor_serial_driver::MotorControlNode',
+                name='unitree_motor_serial_driver',
+                parameters=[
+                    {'serial_port': '/dev/ttyACM0'}
+                ],
+                remappings=[
+                    ('data_leg_control', 'data_leg_control'),
+                    ('data_leg_motor', 'data_leg_motor')
+                ]
+            )
+        ],
+        output='screen',
+    )
 
-            ]
+    return LaunchDescription([container])
-        )
-    ])

src/unitree_motor_serial_driver/package.xml

@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>rc_msgs</depend>
   

src/unitree_motor_serial_driver/src/unitree_motor_serial_driver.cpp

@@ -1,17 +1,35 @@
 #include "unitree_motor_serial_driver/unitree_motor_serial_driver.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 
 namespace unitree_motor_serial_driver
 {
 
-MotorControlNode::MotorControlNode()
+    MotorControlNode::MotorControlNode(const rclcpp::NodeOptions & options)
-    : Node("unitree_motor_serial_driver"), serial_("/dev/ttyACM0")
+        : Node("unitree_motor_serial_driver", options),
-{
+          serial_("/dev/ttyACM0")  // 在初始化列表中提供必要参数
-    timer_ = this->create_wall_timer(
+    {
-        std::chrono::microseconds(1000), std::bind(&MotorControlNode::control_motor, this));
+        // 声明参数
-    data_control_sub_ = this->create_subscription<rc_msgs::msg::DataLeg>(
+        auto serial_port = this->declare_parameter("serial_port", "/dev/ttyACM0");
-        "data_leg_control", 10, std::bind(&MotorControlNode::data_control_callback, this, std::placeholders::_1));
+        
-    data_motor_pub_ = this->create_publisher<rc_msgs::msg::DataLeg>("data_leg_motor", 10);
+        try {
-}
+            // 用声明的参数重新初始化串口
+            if (serial_port != "/dev/ttyACM0") {
+                serial_ = SerialPort(serial_port);
+            }
+            RCLCPP_INFO(this->get_logger(), "Successfully opened serial port: %s", serial_port.c_str());
+        } catch (const std::exception &e) {
+            RCLCPP_ERROR(this->get_logger(), "Failed to open serial port: %s, error: %s", 
+                        serial_port.c_str(), e.what());
+            throw;
+        }
+        
+        // 其余代码保持不变
+        timer_ = this->create_wall_timer(
+            std::chrono::microseconds(1000), std::bind(&MotorControlNode::control_motor, this));
+        data_control_sub_ = this->create_subscription<rc_msgs::msg::DataLeg>(
+            "data_leg_control", 10, std::bind(&MotorControlNode::data_control_callback, this, std::placeholders::_1));
+        data_motor_pub_ = this->create_publisher<rc_msgs::msg::DataLeg>("data_leg_motor", 10);
+    }
 
 void MotorControlNode::data_control_callback(const rc_msgs::msg::DataLeg::SharedPtr msg)
 {
@@ -45,7 +63,7 @@ void MotorControlNode::control_motor()
         cmd.dq = motor[i].cmd.dq;
         cmd.tau = motor[i].cmd.tau;
 
-        if (timer_count_ > 300)
+        if (timer_count_ > 100)
         {
             Motor_Ctrl_Offline(&motor[i]);
             timer_count_ = 0;
@@ -98,10 +116,5 @@ void MotorControlNode::Motor_Ctrl_Offline(Motor_t *motor_s)
 
 } // namespace unitree_motor_serial_driver
 
-int main(int argc, char **argv)
+// 注册组件
-{
+RCLCPP_COMPONENTS_REGISTER_NODE(unitree_motor_serial_driver::MotorControlNode)
-    rclcpp::init(argc, argv);
-    rclcpp::spin(std::make_shared<unitree_motor_serial_driver::MotorControlNode>());
-    rclcpp::shutdown();
-    return 0;
-}