divide all the class into independent python files

ros_ws/behavior/behavior/behavior_node.py

+import rclpy
+from rclpy.node import Node
+from .TakeOff import Takeoff
+from .MoveLeft import MoveLeft
+from .Hover import Hover
+from .MoveForward import MoveForward
+from .MoveRight import MoveRight
+from .StopAndLand import StopAndLand
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    takeoff_behavior = Takeoff()
+    move_left_behavior = MoveLeft()
+    hover_behavior = Hover()
+    move_up_behavior = MoveForward()
+    move_right_behavior = MoveRight()
+    stop_and_land_behavior = StopAndLand()
+
+    executor = rclpy.executors.MultiThreadedExecutor()
+    executor.add_node(takeoff_behavior)
+    executor.add_node(move_left_behavior)
+    executor.add_node(hover_behavior)
+    executor.add_node(move_up_behavior)
+    executor.add_node(move_right_behavior)
+    executor.add_node(stop_and_land_behavior)
+
+    try:
+        executor.spin()
+    finally:
+        takeoff_behavior.destroy_node()
+        move_left_behavior.destroy_node()
+        hover_behavior.destroy_node()
+        move_up_behavior.destroy_node()
+        move_right_behavior.destroy_node()
+        stop_and_land_behavior.destroy_node()
+        rclpy.shutdown()

ros_ws/behavior/launch/behavior_launch.xml

 <launch>
+    <!-- 启动 joystick 节点 -->
     <node pkg="joy" exec="joy_node" name="joy_node"/>
-    <node pkg="behavior" exec="takeoff" name="TakeOff"/>
-    <node pkg="behavior" exec="land" name="Land"/>
-    <node pkg="behavior" exec="hover" name="Hover"/>
-    <node pkg="behavior" exec="move_forward" name="MoveForward"/>
-    <node pkg="behavior" exec="move_left" name="MoveLeft"/>
+
+    <!-- 启动 behavior_node，包含所有行为节点 -->
+    <node pkg="behavior" exec="behavior_node" name="behavior_node"/>
+
+    <!-- 启动低层控制节点 -->
     <node pkg="low_level" exec="speed_controller" name="speed_controller"/>
-    <node pkg="low_level" exec="twisttopic_node" name="twisttopic_node"/>
+    <node pkg="behavior" exec="twisttopic_node" name="twisttopic_node"/>
+
+    <!-- 启动状态查看器节点 -->
     <node pkg="behavior" exec="status_viewer" name="status_viewer"/>
+
+    <!-- 启动 joy_teleop 和 command 节点 -->
     <node pkg="behavior" exec="joy_teleop" name="joy_teleop"/>
-    <node pkg="joy" exec="joy_node" name="joy_node"/>
-    <node pkg="behavior" exec="command" name="command"/>
+    <node pkg="behavior" exec="command_node" name="command"/>
 </launch>

ros_ws/behavior/setup.py

@@ -10,7 +10,7 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        ('share/' + package_name + '/launch', ['launch/behaviors_launch.py']),
+        ('share/' + package_name + '/launch', ['launch/behavior_launch.xml']),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -26,7 +26,8 @@ setup(
             'fake_forward = behavior.fake_forward:main',
             'status_viewer = behavior.status_viewer:main',
             'joy_teleop = behavior.joy_teleop:main',
-            'command_node = behavior.command:main' 
+            'command_node = behavior.command:main' ,
+            'behavior_node = your_package_name.behavior_node:main'
         ],
     },
 )