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fix: add TimerAction to launch files for controlled execution order

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ob-yalian
2026-01-22 14:20:25 +08:00
parent 2b0874b3a3
commit ef3d7ac1d9
2 changed files with 6 additions and 6 deletions
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orbbec_camera/launch/multi_camera.launch.py
+3 -3
View File
@@ -1,5 +1,5 @@
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess, TimerAction
from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
@@ -46,8 +46,8 @@ def generate_launch_description():
# Launch description # Launch description
ld = LaunchDescription([ ld = LaunchDescription([
GroupAction([launch1_include]), TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
GroupAction([launch2_include]), TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
]) ])
return ld return ld
orbbec_camera/launch/multi_lidar.launch.py
+3 -3
View File
@@ -1,5 +1,5 @@
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess, TimerAction
from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
@@ -38,8 +38,8 @@ def generate_launch_description():
# Launch description # Launch description
ld = LaunchDescription([ ld = LaunchDescription([
GroupAction([launch1_include]), TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
GroupAction([launch2_include]), TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
]) ])
return ld return ld