support Odin 1. support Ubuntu 18.04,Ubuntu 20.04,Ubuntu22.04. support for ROS1 and ROS2.

launch_ROS2/odin1_ros2.launch.py

@@ -0,0 +1,38 @@
+
+#用法: ros2 launch odin_ros_driver odin1_ros2.launch.py
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    # 获取包目录
+    package_dir = get_package_share_directory('odin_ros_driver')
+    
+    # 声明配置参数
+    config_file_arg = DeclareLaunchArgument(
+        'config_file',
+        default_value=os.path.join(package_dir, 'config', 'control_command.yaml'),
+        description='Path to the control config YAML file'
+    )
+    
+    # 创建节点
+    host_sdk_node = Node(
+        package='odin_ros_driver',
+        executable='host_sdk_sample',
+        name='host_sdk_sample',
+        output='screen',
+       # arguments=['--ros-args', '--log-level', 'debug'],
+        parameters=[{
+            'config_file': LaunchConfiguration('config_file')
+        }]
+    )
+    
+    # 创建启动描述
+    ld = LaunchDescription()
+    ld.add_action(config_file_arg)
+    ld.add_action(host_sdk_node)
+    
+    return ld