nmea_ros_bridge/launch/serial_ntrip_nmea.launch.py

#!/usr/bin/env python3
"""
serial_ntrip_nmea节点的启动文件
"""

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

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', 'serial_ntrip_nmea_config.yaml')
    
    # 读取配置文件
    with open(config_file, 'r') as f:
        params = yaml.safe_load(f)['serial_ntrip_nmea']['ros__parameters']
    
    # serial_ntrip_nmea节点
    serial_ntrip_nmea_node = Node(
        package='nmea_ros_bridge',
        executable='serial_ntrip_nmea',
        name='serial_ntrip_nmea',
        output='screen',
        parameters=[params]
    )

    return LaunchDescription([
        serial_ntrip_nmea_node,
        launch.actions.RegisterEventHandler(
            event_handler=launch.event_handlers.OnProcessExit(
                target_action=serial_ntrip_nmea_node,
                on_exit=[launch.actions.EmitEvent(
                    event=launch.events.Shutdown())],
            )),
    ])