在自己的package里用launch文件调用realsense2_camera的rs_launch.py该如何实现？

[374870361]

我自己有一个功能包，然后在这个功能包里调用realsense2_camera的rs_launch.py，但是一直不成功，有大佬有经验吗？

这是我的launch代码，想在这里调用rs_launch.py启动realsense相机：

import os

import launch_ros
import launch 

from ament_index_python.packages import get_package_share_directory

from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
from launch_ros.substitutions import FindPackageShare

'''
本launch脚本启动realsense2_ros节点
从realsense相机获取灰度图和深度图并保存
'''

def generate_launch_description():
   
    realsense2_camera_dir = get_package_share_directory('realsense2_camera')

    # Declare the launch arguments
    declare_logger_level = DeclareLaunchArgument(
        name = 'logger_level', 
        default_value = 'fatal', 
        description = 'the logger level'
    )

    
    logger_level_launch = LaunchConfiguration('logger_level')
   

    depth_module_profile = LaunchConfiguration('depth_module.profile', default='424x240x15')
    enable_color = LaunchConfiguration('enable_color', default='false')

    # realsense包的路径
    # realsense2_launch_path = realsense2_camera_dir + '/launch/rs_launch.py'
    realsense2_launch_path = realsense2_camera_dir + '/launch/rs_callback_launch.py'
    print("the path of realsense2_launch is: %s" % realsense2_launch_path)

    try:
        # print("the path of realsense launch file is: %s" % realsense2_launch_path)
        return launch.LaunchDescription([
            # declare_logger_level,
            # 启动realsense节点 realsense_camera
            launch_ros.actions.IncludeLaunchDescription(
                launch.launch_description_sources.PythonLaunchDescriptionSource([
                    # '<path_to_realsense_package>/launch/rs_launch.py'
                    # realsense2_launch_path
                    PathJoinSubstitution([
                        FindPackageShare('realsense2_camera'),
                        'launch',
                        'rs_launch.py'
                        # 'rs_callback_launch.py'
                    ])
                ]),
                launch_arguments={
                    'camera_name': 'camera_test'
                    # 'depth_module.profile': depth_module_profile
                    # ,'enable_color': enable_color
                }.items()
            )
            # ,
           
            
        ])
    except:
        print("failed launch ")
        return launch.LaunchDescription([])
    
       

[374870361]

@374870361 我自己查到解决方案了，谢谢论坛的各位大佬