1、remap 标签
<launch>
<node pkg="test1" type="test1" name="test1" output="screen">
<!--test1节点发布的topic为/talker-->
<!--一个例子:将talker节点发布的话题/talker映射到/re_talker的名字上去-->
<remap from="/talker" to="/re_talker" />
</node>
</launch>
<launch>
<node pkg="test2" type="test2" name="test2" output="screen">
<!--test2节点需要订阅话题为/talker_mid-->
<!--一个例子将节点订阅的topic改名字为/re_talker-->
<remap from="/talker_mid" to="/re_talker" />
</node>
</launch>