chore(launch): 增强launch能力，可以动态修改namespace

暂时namespace固定为'nav'

saturn_controller/config/saturn_controller.yaml

@@ -1,7 +1,7 @@
-nav/saturn_controller:
+saturn_controller:
   ros__parameters:
     # 基本类型参数
-    motion_computer_ip_address: '127.0.0.1'
+    motion_computer_ip_address: '192.168.144.103'
     main_timer_frequency: 50.0
     imu_timer_frequency: 30.0
     legged_odom_timer_frequency: 100.0

saturn_controller/launch/saturn_ros2.launch.py

@@ -5,74 +5,73 @@ import launch_ros.actions
 from launch.substitutions import EnvironmentVariable
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+import yaml
+import tempfile
+
+def rewrite_yaml_config(yaml_filename,ns):
+    rewritten_yaml = tempfile.NamedTemporaryFile(mode='w', delete=False)
+    data = yaml.safe_load(open(yaml_filename, 'r'))
+    data = {ns: data}
+    yaml.dump(data, rewritten_yaml)
+    rewritten_yaml.close()
+    return rewritten_yaml.name
+
+def get_camera_list_from_yaml(yaml_file)->str:
+    try:
+        with open(yaml_file, 'r') as file:
+            data = yaml.safe_load(file)
+            camera_list = list(data.keys())
+            return camera_list
+    except FileNotFoundError:
+        print(f"Error: File '{yaml_file}' not found.")
+        return None
+    except yaml.YAMLError as e:
+        print(f"Error parsing YAML file '{yaml_file}': {e}")
+        return None
 
 def generate_launch_description():
-    config = os.path.join(
+    origin_config = os.path.join(
         get_package_share_directory('saturn_controller'),
         'config',
         'saturn_controller.yaml'
         )
-    print(f"config:{config}" )
 
-    # 创建组件容器
-    container = ComposableNodeContainer(
-        name='rclcpp_components',
-        namespace='nav',
-        package='rclcpp_components',
-        executable='component_container',
-        composable_node_descriptions=[
-            # 添加你的组件
-            ComposableNode(
-                package='saturn_controller',
-                plugin='saturn_ros2::SaturnController',
-                name='saturn_controller',
-                namespace='nav',
-                parameters=[config]
-                # remappings=[
-                #     ('input_topic', 'new_input_topic'),
-                #     ('output_topic', 'new_output_topic')
-                # ]
-            )
-        ],
-        output='screen'
-    )
+    origin_list = get_camera_list_from_yaml(origin_config)
+
+    # robot_name = os.getenv('ROBOT_NAME', '')
+    model_name = 'nav'
 
-    return launch.LaunchDescription([container])
+    ld = launch.LaunchDescription()
+    for name in origin_list:
+        config = rewrite_yaml_config(origin_config, model_name)
+        # if robot_name != '':
+        #     config = rewrite_yaml_config(config,robot_name)
+
+        # namespace = robot_name + '/' + model_name
+        namespace = model_name
+        print(f"namespace:{namespace}" )
+        # 创建组件容器
+        container = ComposableNodeContainer(
+            name='rclcpp_components',
+            namespace=namespace,
+            package='rclcpp_components',
+            executable='component_container',
+            composable_node_descriptions=[
+                # 添加你的组件
+                ComposableNode(
+                    package='saturn_controller',
+                    plugin='saturn_ros2::SaturnController',
+                    name='saturn_controller',
+                    namespace=namespace,
+                    parameters=[config]
+                    # remappings=[
+                    #     ('input_topic', 'new_input_topic'),
+                    #     ('output_topic', 'new_output_topic')
+                    # ]
+                )
+            ],
+            output='screen'
+        )
+        ld.add_action(container)
 
-# def generate_launch_description():
-#
-#     robot_name = EnvironmentVariable('ROBOT_NAME', default_value='')
-#
-#     # print("Robot name: " + robot_name)
-#
-#     config = os.path.join(
-#         get_package_share_directory('saturn_controller'),
-#         'config',
-#         'saturn_controller.yaml'
-#         )
-#     print(R"config:{config}" )
-#
-#     component_manager_node = launch_ros.actions.Node(
-#         package='rclcpp_components',
-#         executable='component_container',
-#         name='component_container',
-#         namespace = robot_name,
-#         output='screen'
-#     )
-#
-#     composable_node = launch_ros.actions.LoadComposableNodes(
-#         target_container='/component_container',
-#         composable_node_descriptions=[
-#             launch_ros.descriptions.ComposableNode(
-#                 package='saturn_controller',
-#                 plugin='saturn_ros2::SaturnController',
-#                 parameters=[config],
-#                 name='saturn_controller'
-#             ),
-#         ]
-#     )
-#
-#     return launch.LaunchDescription([
-#         component_manager_node,
-#         composable_node
-#     ])
+    return ld