nmea_ros_bridge/launch/ntrip_to_tcp_server.launch.py

#!/usr/bin/env python3
"""
C++版本NTRIP到TCP服务器启动文件（配置文件版本）
使用YAML配置文件启动C++版本的NTRIP到TCP服务器
"""

import os
import yaml
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    # 获取包共享目录和配置文件路径
    share_dir = get_package_share_directory('nmea_ros_bridge')
    config_file = os.path.join(share_dir, 'config', 'ntrip_to_tcp_server_config.yaml')
    
    # 读取配置文件
    with open(config_file, 'r') as f:
        params = yaml.safe_load(f)['ntrip_to_tcp_server']['ros__parameters']
    
    # C++版本NTRIP到TCP服务器节点
    ntrip_to_tcp_server_node = Node(
        package='nmea_ros_bridge',
        executable='ntrip_to_tcp_server',
        name='ntrip_to_tcp_server',
        output='screen',
        parameters=[params]
    )

    return LaunchDescription([
        ntrip_to_tcp_server_node
    ])