ROS（一）：launch使用案例文件（单纯的复制来的）

案例一

  //使用启动标记启动启动文件，以便将文件标识为启动文件
<launch>    
   
      
 //在这里，我们启动两个组，其名称空间标签为turtlesim1，turtlesim2为turtlesim节点，名称为sim。
 //这允许我们在没有名称冲突的情况下启动两个模拟器。   
  <group ns="turtlesim1">
    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
  </group>

  <group ns="turtlesim2">
    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
  </group>


//在这里，我们启动模拟节点，主题输入和输出重命名为turtlesim1和turtlesim2。
//这个重命名将导致turtlesim2模仿turtlesim1。
  <node pkg="turtlesim" name="mimic" type="mimic">
    <remap from="input" to="turtlesim1/turtle1"/>
    <remap from="output" to="turtlesim2/turtle1"/>
  </node>
  
  
 //将关闭启动文件的xml标记 
</launch>

案例二：包含其他launch文件

<launch>

  <node name="wyp_play" pkg="rosbag" type="play"  args="--clock $(find get_midline)/../../bag/19-2.bag" />

</launch>

<launch>

  <!--<node  name="get_midline" pkg="get_midline" type="get_midline" output="screen" >
  </node>-->

  <node name="rviz" pkg="rviz" type="rviz"  args="-d $(find get_midline)/rviz_cfg/get_midline.rviz" />

   <!-- launch文件  -->
  <include file="$(find get_midline)/launch/play_bag.launch" /> 

</launch>

案例三：参数配置

<?xml version="1.0"?>
<launch>

<arg name="dist" default="0"/>
<arg name="cam" default="$(find ccmslam)/conf/vi_euroc.yaml"/>

  <group ns="ccmslam">

  <node pkg="tf" type="static_transform_publisher" name="linkC0_broadcaster" args="-100 300 5 -1.571 0 -2 world odomC0 100" /> 

<node pkg="ccmslam" type="ccmslamClientNode" name="ccmslamClientNode0" args="$(find ccmslam)/conf/ORBvoc.txt $(arg cam)" output="screen">

  <!-- ++++++++++++++++++++++++++++++++++++++++++++++ -->
  <!-- Agent Specific Params - !!!MUST BE ADJUSTED!!! -->

  <param name="~FrameId" type="string" value="odomC0" />
  <param name="~ClientId" type="int" value="0" />

  <param name="~TopicNameCamSub" type="string" value="/cam0/image_raw" />

  <param name="~MapInTopicName" type="string" value="MapOutServer0" unless="$(arg dist)" />
  <param name="~MapInTopicName" type="string" value="MapOutServer0Disturbed" if="$(arg dist)" /> 

</node>

  </group>
</launch>