深入理解roslaunch中remap标签

demo 1：句柄为相对命名空间不为空，remap便签可只改变nodehandle句柄相对命名空间名称

 注：ros::NodeHandle nh("相对命名空间名称")

#include <ros/ros.h>
#include <turtlesim/Pose.h>
#include <geometry_msgs/Twist.h>

class Mimic
{
public:
  Mimic();

private:
  void poseCallback(const turtlesim::PoseConstPtr& pose);

  ros::Publisher twist_pub_;
  ros::Subscriber pose_sub_;
};

Mimic::Mimic()
{
  ros::NodeHandle input_nh("input");
  ros::NodeHandle output_nh("output");
  twist_pub_ = output_nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
  pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this);
}

void Mimic::poseCallback(const turtlesim::PoseConstPtr& pose)
{
  geometry_msgs::Twist twist;
  twist.angular.z = pose->angular_velocity;
  twist.linear.x = pose->linear_velocity;
  twist_pub_.publish(twist);
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "turtle_mimic");
  Mimic mimic;

  ros::spin();
}

<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>

demo 2 ：remap便签可只改变话题名称

注：nh.advertise<>("话题名称", )  or  nh.subscrebe<>("话题名称", , , )

//move_base.cpp

ros::NodeHandle nh;
    ...
//for comanding the base
vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);

<launch>
  <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>

  <arg name="odom_topic" default="odom" />
  <arg name="laser_topic" default="scan" />

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
    <remap from="odom" to="$(arg odom_topic)"/>
    <remap from="scan" to="$(arg laser_topic)"/>
  </node>
</launch>