ROS 发布、订阅话题自带node名前缀

ROS 发布、订阅话题自带node名前缀

ROS node主程序

ros::init(argc, argv, "laserMapping");
ros::NodeHandle nh("~");  //加上这个~
//注意topic名前没有/
ros::Subscriber sub_imu = nh.subscribe<sensor_msgs::Imu>("imu", 200000, imu_cbk);
ros::Publisher pubPath = nh.advertise<nav_msgs::Path> ("path", 100000); 

对应的launch中，可以修改node名字
pkg为node所在的package；type是可执行文件的本名，不可修改；name可以修改

<node pkg="multi_uav_lio" type="fastlio_mapping" name="laserMapping_quad1" output="screen" >
	    <rosparam command="load" file="$(find multi_uav_lio)/config/simulation.yaml" />
	    <param name="point_filter_num" type="int" value="5"/>
	    ......
</node>

这样订阅和接受的话题名称就会变成

/laserMapping_quad1/imu
/laserMapping_quad1/path

运行两个相同节点

只需修改launch文件，设置不同的name即可
需要将ros参数写在node内部，才会传递给对应的node，不会互相影响

<node pkg="multi_uav_lio" type="fastlio_mapping" name="laserMapping_quad1" output="screen" >
	    <rosparam command="load" file="$(find multi_uav_lio)/config/simulation.yaml" />
	    <param name="point_filter_num" type="int" value="5"/>
	    ......
</node>


<node pkg="multi_uav_lio" type="fastlio_mapping" name="laserMapping_quad2" output="screen" >
	    <rosparam command="load" file="$(find multi_uav_lio)/config/simulation.yaml" />
	    <param name="point_filter_num" type="int" value="5"/>
	    ......
</node>