NEW 1
$ cd ~/catkin_ws
$ source devel/setup.bash
$ roscd test #教程中叫做beginner_tutorials,这里叫做test
$ mkdir launch #~/catkin_ws/src/test 下建立一个叫做launch 的文件夹
$ cd launch #进入launch
新建文档:turtlemimic.launch 添加以下内容:
<launch>
<group ns="turtlesim1"> <node pkg="turtlesim" name="sim" type="turtlesim_node"/> </group> <group ns="turtlesim2"> <node pkg="turtlesim" name="sim" type="turtlesim_node"/> </group> <node pkg="turtlesim" name="mimic" type="mimic"> <remap from="input" to="turtlesim1/turtle1"/> <remap from="output" to="turtlesim2/turtle1"/> </node> </launch>
$ roslaunch test turtlemimic.launch #roslaunch指令调用 /test/turtlemimic.launch
NEW 2
$ rostopic pub /turtlesim1/turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'
NEW 3
$ rqt_graph