launch标签讲解

最新推荐文章于 2024-02-06 23:13:40 发布
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最新推荐文章于 2024-02-06 23:13:40 发布
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分类专栏： ROS 文章标签： launch
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    <meta name="description" content="Launch 文件
  1 使用Launch文件
  2 创建Launch文件
  3 在namespace中启动nodes
  4 remapping names
  5 其他的launch元素
 
1 使用launch文件
Launch文件是ROS提供的，可以同时运行多个nodes的文件。Launch文件以一种特殊的XML格式编写，在ROS packages中使用广泛。
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                    <a href="https://my.csdn.net/qq_29043783" class="user-name" target="_blank">qq_29043783</a>：[reply]qingzhiqumoshi[/reply]
请问这个问题您解决了吗                </p>
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                    <a href="https://my.csdn.net/cookie909" class="user-name" target="_blank">cookie909</a>：厉害厉害，解析就是要这种，一看就懂，自己总结，而不仅仅是官网翻译，超赞                </p>
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                    <a href="https://my.csdn.net/wojiushiwo552" class="user-name" target="_blank">wojiushiwo552</a>：这是我见过的最详细介绍launch文件的博客，谢谢博主！！！                </p>
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                    <a href="https://my.csdn.net/qq_34717531" class="user-name" target="_blank">qq_34717531</a>：用自己的图片mnist_siamese_train_leveldb和mnist_siamese_t...                </p>
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                    <a href="https://my.csdn.net/qingzhiqumoshi" class="user-name" target="_blank">qingzhiqumoshi</a>：您好，我想问一下在train.txt中每一行是两张图片的路径，那标记放在哪里，是紧随其后还是单有一...                </p>
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												<span class="time">2015年01月21日 22:37:49</span>
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<h1><strong> Launch <span style="font-family:'宋体';">文件</span></strong></h1>
<h3>  1 <span style="font-family:'宋体';">使用</span><span style="font-family:'Times New Roman';">Launch</span><span style="font-family:'宋体';">文件<br /></span>  2 <span style="font-family:'宋体';">创建</span><span style="font-family:'Times New Roman';">Launch</span><span style="font-family:'宋体';">文件<br /></span>  3 <span style="font-family:'宋体';">在</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋体';">中启动</span><span style="font-family:'Times New Roman';">nodes<br /></span>  4 remapping <span style="font-family:'宋体';">names<br /></span>  5 <span style="font-family:'宋体';">其他的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">元素</span></h3>
<p> </p>
<h3><span style="font-size:18px;">1 <span style="font-family:'宋体';">使用</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件</span></span></h3>
<p>Launch<span style="font-family:'宋体';">文件是</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋体';">提供的，可以同时运行多个</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">的文件。</span><span style="font-family:'Times New Roman';">Launch</span><span style="font-family:'宋体';">文件以一种特殊的</span><span style="font-family:'Times New Roman';">XML</span><span style="font-family:'宋体';">格式编写，在</span><span style="font-family:'Times New Roman';">ROS packages</span><span style="font-family:'宋体';">中使用广泛。</span></p>
<pre><strong><span style="font-size:14px;">1.1 <span style="font-family:'宋体';">运行</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件</span></span></strong></pre>
<pre><span style="background-color:rgb(255,255,0);">$ roslaunch package_name launch_file_name</span></pre>
<p>Eg: roslaunch turtlesim example.launch</p>
<pre><strong>（1）Tip1: rosrun<span style="font-family:'宋体';">只能运行一个</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">， </span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">可以同时运行多个</span><span style="font-family:'Times New Roman';">nodes.</span></strong></pre>
<p>Tip2: launch<span style="font-family:'宋体';">文件可以不被包含于</span><span style="font-family:'Times New Roman';">package</span><span style="font-family:'宋体';">中。此时，只需指出该</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件的绝对路径，即可运行。</span></p>
<p><span style="background-color:rgb(255,255,0);">$ roslaunch completely_path</span></p>
<p>Eg<span style="font-family:'宋体';">：</span><span style="font-family:'Times New Roman';">$ roslaunch ~/opt/ros/indigo/share/turtlesim/launch/example.launch</span></p>
<p>Tip3: <span style="font-family:'宋体';">为便于执行，每个</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">最好是相互独立的。</span></p>
<pre><strong>（2）详细显示<span style="font-family:'Times New Roman';">(request verbosity)</span></strong></pre>
<p><span style="background-color:rgb(255,255,0);">$ roslaunch -v package_name launch_file_name</span></p>
<pre><strong>（3） 结束<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件</span></strong></pre>
<p>ctrl+c</p>
<p> </p>
<p><span style="font-size:18px;"><strong>2 <span style="font-family:'宋体';">创建</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件</span></strong></span></p>
<p>(1) launch<span style="font-family:'宋体';">文件一般以</span><span style="font-family:'Times New Roman';">.launch</span><span style="font-family:'宋体';">后缀作为文件名，放在</span><span style="font-family:'Times New Roman';">package</span><span style="font-family:'宋体';">的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件夹下。最简单的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件可以仅包含几个</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">。</span></p>
<p>(2) Launch<span style="font-family:'宋体';">文件是</span><span style="font-family:'Times New Roman';">XML</span><span style="font-family:'宋体';">文件，每个</span><span style="font-family:'Times New Roman';">XML</span><span style="font-family:'宋体';">文件必须有一个</span><span style="font-family:'Times New Roman';">root element</span><span style="font-family:'宋体';">。而</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件的</span><span style="font-family:'Times New Roman';">root element</span><span style="font-family:'宋体';">由一对</span><span style="font-family:'Times New Roman';">launch </span><span style="font-family:'宋体';">标签定义。</span></p>
<p><launch></p>
<p>...</p>
<p></launch></p>
<p>Launch<span style="font-family:'宋体';">文件中的其他</span><span style="font-family:'Times New Roman';">elements</span><span style="font-family:'宋体';">必须都在这一对</span><span style="font-family:'Times New Roman';">tags</span><span style="font-family:'宋体';">之间。</span></p>
<p>(3) launch<span style="font-family:'宋体';">文件的核心是一系列</span><span style="font-family:'Times New Roman';">node elements</span><span style="font-family:'宋体';">，每个</span><span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋体';">启动一个</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">。</span><span style="font-family:'Times New Roman';">Node element</span><span style="font-family:'宋体';">看起来如下：</span></p>
<p><span style="background-color:rgb(255,255,0);"><node</span></p>
<p><span style="background-color:rgb(255,255,0);">  pkg=”package_name” type=”executable_name” name=”node_name”</span></p>
<p><span style="background-color:rgb(255,255,0);">/></span></p>
<p>Tip1: <span style="font-family:'宋体';">最后的“</span><span style="font-family:'Times New Roman';">/</span><span style="font-family:'宋体';">”是必不可少的。</span></p>
<p>Tip2: <span style="font-family:'宋体';">也可以写成</span><span style="font-family:'Times New Roman';"><node pkg=</span>”..” type=”...” name=”...”></node></p>
<p>如果该<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">中有其他</span><span style="font-family:'Times New Roman';">tags</span><span style="font-family:'宋体';">，则必须使用这种形式。</span></p>
<p>(4) 一个<span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋体';">包含三个必须的属性：</span><span style="font-family:'Times New Roman';">pkg, type, name.</span></p>
<p>pkg<span style="font-family:'宋体';">和</span><span style="font-family:'Times New Roman';">type</span><span style="font-family:'宋体';">属性指出</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋体';">应该运行哪个</span><span style="font-family:'Times New Roman';">pkg</span><span style="font-family:'宋体';">中的哪个</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">，注意：此处的</span><span style="font-family:'Times New Roman';">type</span><span style="font-family:'宋体';">是可执行文件的名称，而</span><span style="font-family:'Times New Roman';">name</span><span style="font-family:'宋体';">则是可以任意给出的，它覆盖了原有文件中</span><span style="font-family:'Times New Roman';">ros::init</span><span style="font-family:'宋体';">指定的</span><span style="font-family:'Times New Roman';">node name</span><span style="font-family:'宋体';">。</span></p>
<p>(5) 使用匿名（<span style="font-family:'Times New Roman';">anonymous name</span><span style="font-family:'宋体';">）</span></p>
<p> <span style="background-color:rgb(255,153,255);"> name=”$(anon base_name)”</span></p>
<p>(6) node <span style="font-family:'宋体';">日志文件（</span><span style="font-family:'Times New Roman';">log file</span><span style="font-family:'宋体';">）</span></p>
<p>运行<span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">和用</span><span style="font-family:'Times New Roman';">rosrun</span><span style="font-family:'宋体';">运行单个节点的区别之一是，默认情况下，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">运行的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">的标准输出会重定向到</span><span style="font-family:'Times New Roman';">log file</span><span style="font-family:'宋体';">，不显示在控制台。</span></p>
<p>该日志文件的位置和名称如下：</p>
<p><span style="background-color:rgb(51,255,255);">~/.ros/log/run_id/node_name-number-stdout.log</span></p>
<p>其中，<span style="font-family:'Times New Roman';">run_id</span><span style="font-family:'宋体';">是</span><span style="font-family:'Times New Roman';">master</span><span style="font-family:'宋体';">启动后生成的特殊标识符，</span><span style="font-family:'Times New Roman';">number</span><span style="font-family:'宋体';">是表示</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">数量的整数。如，</span><span style="font-family:'Times New Roman';">turtlesim-1-stdout.log; teleop_key-3-stdout.log.</span></p>
<p>(7) 输出到控制台</p>
<p>用<span style="font-family:'Times New Roman';">output</span><span style="font-family:'宋体';">属性， </span><span style="background-color:rgb(255,153,255);"><span style="font-family:'Times New Roman';">output=</span>”screen”</span>；这种方法仅显示一个<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">。</span></p>
<p>若显示所有<span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">的输出，用</span><span style="font-family:'Times New Roman';">--screen</span><span style="font-family:'宋体';">命令行。</span></p>
<p><span style="background-color:rgb(255,255,51);">$ roslaunch --screen package_name launch_file_name</span></p>
<p>如果正在运行的文件没有显示想要对输出，可以查看该<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">属性集中是否有 </span><span style="font-family:'Times New Roman';">output=</span>”screen”.</p>
<p>(8) 要求重生<span style="font-family:'Times New Roman';">(request respawning)</span></p>
<p>    开启所有<span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">后，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">会监视每个</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">，记录那些仍然活动的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">。对于每个</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">，当其终止后，我们可以要求</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">重启该</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">，通过使用</span><span style="font-family:'Times New Roman';">respawn</span><span style="font-family:'宋体';">属性。</span></p>
<p>   <span style="background-color:rgb(255,153,255);"> respawn=”true”</span></p>
<p>(10) 必需的<span style="font-family:'Times New Roman';">nodes</span></p>
<p>required<span style="font-family:'宋体';">属性与</span><span style="font-family:'Times New Roman';">respawn</span><span style="font-family:'宋体';">相反，不能同时对同一个</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">使用。</span></p>
<p><span style="background-color:rgb(255,153,255);">required=”true”</span></p>
<p>当一个<span style="font-family:'Times New Roman';">required node</span><span style="font-family:'宋体';">终止后，所有其他的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">都会终止，并退出。这种命令有时很有用。比如，当一个很重要的</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">失败后，整个会话都会被扔掉，那些加上了</span><span style="font-family:'Times New Roman';">respawn</span><span style="font-family:'宋体';">属性的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">也会停止。</span></p>
<p>(11) 在独立的窗口运行各<span style="font-family:'Times New Roman';">nodes</span></p>
<p>我们在各自的<span style="font-family:'Times New Roman';">termin</span><span style="font-family:'宋体';">运行</span><span style="font-family:'Times New Roman';">rosrun node_name</span><span style="font-family:'宋体';">；但是运行</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">时，所有的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">共用一个相同的</span><span style="font-family:'Times New Roman';">terminal</span><span style="font-family:'宋体';">，这对于那些需要从控制台输入的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">很不方便。可以使用</span><span style="font-family:'Times New Roman';">launch-prefix</span><span style="font-family:'宋体';">属性。</span></p>
<p><span style="background-color:rgb(255,153,255);">launch-prefix=”command-prefix”</span></p>
<p>Eg<span style="font-family:'宋体';">：</span><span style="font-family:'Times New Roman';">launch-prefix=</span>”xterm -e”</p>
<p>等价于 <span style="font-family:'Times New Roman';">xterm -e rosrun turtlesim turtle_teleop_key</span></p>
<p>xterm <span style="font-family:'宋体';">命令表示新建一个</span><span style="font-family:'Times New Roman';">terminal</span><span style="font-family:'宋体';">； </span><span style="font-family:'Times New Roman';">-e</span><span style="font-family:'宋体';">参数告诉</span><span style="font-family:'Times New Roman';">xterm</span><span style="font-family:'宋体';">执行剩下的命令行。</span></p>
<p>当然，<span style="font-family:'Times New Roman';">launch-prefix</span><span style="font-family:'宋体';">属性不仅仅限于</span><span style="font-family:'Times New Roman';">xterm</span><span style="font-family:'宋体';">。它可用于调试（通过</span><span style="font-family:'Times New Roman';">gdb</span><span style="font-family:'宋体';">或</span><span style="font-family:'Times New Roman';">valgrind</span><span style="font-family:'宋体';">），或用于降低进程的执行顺序（通过</span><span style="font-family:'Times New Roman';">nice</span><span style="font-family:'宋体';">）</span><span style="font-family:'Times New Roman';">.</span></p>
<p> </p>
<p><span style="font-size:18px;"><strong>3 <span style="font-family:'宋体';">在</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋体';">中执行</span><span style="font-family:'Times New Roman';">nodes</span></strong></span></p>
<p>为<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">设置默认的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋体';">的常用方法——被称为“</span><span style="font-family:'Times New Roman';">pushing down into a namespace</span><span style="font-family:'宋体';">”的进程，用于</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件，并在其</span><span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋体';">中指定</span><span style="font-family:'Times New Roman';">ns</span><span style="font-family:'宋体';">属性。</span></p>
<p><span style="background-color:rgb(255,153,255);">ns=”namespace”</span></p>
<p>launch<span style="font-family:'宋体';">文件中的</span><span style="font-family:'Times New Roman';">node names</span><span style="font-family:'宋体';">是</span><span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋体';">。同一个</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件中，允许不同</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋体';">中出现相同的</span><span style="font-family:'Times New Roman';">node names</span><span style="font-family:'宋体';">。</span><span style="font-family:'Times New Roman';">Roslaunch</span><span style="font-family:'宋体';">要求</span><span style="font-family:'Times New Roman';">node names</span><span style="font-family:'宋体';">必须是</span><span style="font-family:'Times New Roman';">base names</span><span style="font-family:'宋体';">——不指定任何</span><span style="font-family:'Times New Roman';">namespaces</span><span style="font-family:'宋体';">的</span><span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋体';">；如果</span><span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋体';">中出现</span><span style="font-family:'Times New Roman';">node name</span><span style="font-family:'宋体';">为</span><span style="font-family:'Times New Roman';">global name</span><span style="font-family:'宋体';">，则会报错。</span></p>
<p> </p>
<p><span style="font-size:18px;"><strong>4 <span style="font-family:'宋体';">重映射</span><span style="font-family:'Times New Roman';">names</span><span style="font-family:'宋体';">（</span><span style="font-family:'Times New Roman';">remapping names</span><span style="font-family:'宋体';">）</span></strong></span></p>
<p>除了解析<span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋体';">和</span><span style="font-family:'Times New Roman';">private names</span><span style="font-family:'宋体';">，</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋体';">也支持重映射，用于修改</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">当前使用的名称。</span></p>
<p>重映射相当于换名，每次重映射需提供一个<span style="font-family:'Times New Roman';">original name</span><span style="font-family:'宋体';">和一个</span><span style="font-family:'Times New Roman';">new name</span><span style="font-family:'宋体';">。每次</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">使用它的</span><span style="font-family:'Times New Roman';">original name, ROS client library</span><span style="font-family:'宋体';">都会将其替换为</span><span style="font-family:'Times New Roman';">remapping name</span><span style="font-family:'宋体';">。</span></p>
<p><span style="font-family:'宋体';"><br /></span></p>
<p><span style="font-family:'宋体';">创建</span><span style="font-family:'Times New Roman';">remapping name</span>两种方法：</p>
<p>1. 对于单个<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">，在命令行进行</span><span style="font-family:'Times New Roman';">remapping(remap</span><span style="font-family:'宋体';">对象可以是</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">，</span><span style="font-family:'Times New Roman';">topic</span><span style="font-family:'宋体';">等</span><span style="font-family:'Times New Roman';">)</span><span style="font-family:'宋体';">。</span></p>
<p>   original-name:=new-name</p>
<p>Eg: <span style="background-color:rgb(255,255,51);">$ rosrun turtlesim turtlesim_node turtle1/pose:=tim</span></p>
<p><br /></p>
<p>2. 在<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件内</span><span style="font-family:'Times New Roman';">remap names</span><span style="font-family:'宋体';">，使用</span><span style="font-family:'Times New Roman';">remap element</span></p>
<p>  <span style="background-color:rgb(255,153,255);"><remap from=”original_name” to “new_name”></span></p>
<p>如果<span style="font-family:'Times New Roman';">remap</span><span style="font-family:'宋体';">出现在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件开头，作为</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件的子元素，则该</span><span style="font-family:'Times New Roman';">remapping</span><span style="font-family:'宋体';">将被用于随后所有的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">。如果</span><span style="font-family:'Times New Roman';">remap</span><span style="font-family:'宋体';">作为某个</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">的子元素，则只用于该节点。</span></p>
<p>Eg<span style="font-family:'宋体';">：</span><span style="font-family:'Times New Roman';"><node pkg=</span>”turtlesim” type=”turtlesim_node” name=”turtle1”></p>
<p>    <remap from =”turtle1/pose” to “tim”></p>
<p></node></p>
<p>注意：在<span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋体';">进行</span><span style="font-family:'Times New Roman';">remapping</span><span style="font-family:'宋体';">之前，</span><span style="font-family:'Times New Roman';">remaping</span><span style="font-family:'宋体';">的所有</span><span style="font-family:'Times New Roman';">name</span><span style="font-family:'宋体';">，包括</span><span style="font-family:'Times New Roman';">original</span><span style="font-family:'宋体';">和</span><span style="font-family:'Times New Roman';">new names</span><span style="font-family:'宋体';">，都将被解析为</span><span style="font-family:'Times New Roman';">global names</span><span style="font-family:'宋体';">。所以，</span><span style="font-family:'Times New Roman';">remapping</span><span style="font-family:'宋体';">之后所有的名字通常都是</span><span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋体';">。</span></p>
<p> </p>
<p><strong><span style="font-size:18px;">5 <span style="font-family:'宋体';">其他的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';"> </span><span style="font-family:'Times New Roman';">elements</span></span></strong></p>
<p><strong><span style="font-size:14px;">5.1 including<span style="font-family:'宋体';">其他文件</span></span></strong></p>
<p>为包含其他<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件，包括这些</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件的所有</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">和</span><span style="font-family:'Times New Roman';">parameters</span><span style="font-family:'宋体';">，用</span><span style="font-family:'Times New Roman';">include element</span><span style="font-family:'宋体';">。</span></p>
<p><span style="background-color:rgb(255,153,255);"><include file=”path-to-launch-file”></span></p>
<p>这种情况下，<span style="font-family:'Times New Roman';">file</span><span style="font-family:'宋体';">属性必须写出该</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件的全部路径名称，显得很繁琐。因此，常用</span></p>
<p><span style="background-color:rgb(255,153,255);"><include file=”$(find package_name)/launch_file_name”/></span></p>
<p>注意，执行该<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件时，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">会搜索该</span><span style="font-family:'Times New Roman';">package</span><span style="font-family:'宋体';">下的所有子目录；因此，必须给出</span><span style="font-family:'Times New Roman';">package_name</span><span style="font-family:'宋体';">。此外，</span><span style="font-family:'Times New Roman';">include</span><span style="font-family:'宋体';">也支持</span><span style="font-family:'Times New Roman';">ns</span><span style="font-family:'宋体';">属性，将它的内容放进指定的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋体';">。</span></p>
<p><span style="background-color:rgb(255,153,255);"><include file=”...” ns=”namespace_name”/></span></p>
<p><br /></p>
<p><strong><span style="font-size:14px;">5.2 Launch arguments</span></strong></p>
<p>为便于<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件重构，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">支持</span><span style="font-family:'Times New Roman';">launch arguments,</span><span style="font-family:'宋体';">也成为</span><span style="font-family:'Times New Roman';">arguments</span><span style="font-family:'宋体';">或者</span><span style="font-family:'Times New Roman';">args</span><span style="font-family:'宋体';">，类似于局部变量。</span></p>
<p>注意：尽管<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋体';">和</span><span style="font-family:'Times New Roman';">parameter</span><span style="font-family:'宋体';">有时可互换，但他们在</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋体';">中的意义完全不同。</span><span style="font-family:'Times New Roman';">Parameters</span><span style="font-family:'宋体';">是</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋体';">系统使用的数值，存在</span><span style="font-family:'Times New Roman';">parameter server</span><span style="font-family:'宋体';">上，</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">可通过</span><span style="font-family:'Times New Roman';">ros::param::get</span><span style="font-family:'宋体';">函数编程得到，用户可通过</span><span style="font-family:'Times New Roman';">rosparam</span><span style="font-family:'宋体';">获取。与之不同，</span><span style="font-family:'Times New Roman';">arguments</span><span style="font-family:'宋体';">仅在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件内部有意义，</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">不能直接获取它们的值。</span></p>
<p>(1)<span style="font-family:'宋体';">声明</span><span style="font-family:'Times New Roman';">argument</span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name”></span></p>
<p>(2)指定<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋体';">的值</span></p>
<p>Launch<span style="font-family:'宋体';">文件中的每个</span><span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋体';">都必须有指定值。赋值方法有好几种。</span></p>
<p>第一种，在命令行赋值</p>
<p><span style="background-color:rgb(255,255,51);">$ roslaunch package_name launch_file_name arg-name:=arg_value</span></p>
<p>第二种，在声明<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋体';">时赋值</span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name” default=”arg_name”/></span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name” value=”arg_name”/></span></p>
<p>上面两行的区别在于，命令行参数可以覆盖<span style="font-family:'Times New Roman';">default</span><span style="font-family:'宋体';">，但是不能重写</span><span style="font-family:'Times New Roman';">value</span><span style="font-family:'宋体';">的值。</span></p>
<p>(3)获取变量值</p>
<p>一旦声明某个<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋体';">并赋值后，我们可以通过</span><span style="font-family:'Times New Roman';">arg</span><span style="font-family:'宋体';">使用该</span><span style="font-family:'Times New Roman';">argument.</span></p>
<p><span style="background-color:rgb(255,153,255);">$(arg arg-name)</span></p>
<p>如果该行出现，<span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋体';">将会用给定</span><span style="font-family:'Times New Roman';">arg-name</span><span style="font-family:'宋体';">的值替换其左边的值。</span></p>
<p>(4)将<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋体';">值传给</span><span style="font-family:'Times New Roman';">included launch</span><span style="font-family:'宋体';">文件</span></p>
<p><include file=”path-to-file”></p>
<p><arg name=”arg_name” value=”arg_value”/></p>
<p>......</p>
<p></include></p>
<p>若在<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件中，</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件及其包含的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件出现出现相同的</span><span style="font-family:'Times New Roman';">arguments</span><span style="font-family:'宋体';">，则需在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件及</span><span style="font-family:'Times New Roman';">included launch</span><span style="font-family:'宋体';">文件中同时写：</span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name” value=”$(arg arg_name)”/></span></p>
<p>第一个<span style="font-family:'Times New Roman';">arg_name</span><span style="font-family:'宋体';">表示</span><span style="font-family:'Times New Roman';">indluded launch</span><span style="font-family:'宋体';">文件中的</span><span style="font-family:'Times New Roman';">argument,</span><span style="font-family:'宋体';">第二个</span><span style="font-family:'Times New Roman';">arg_name</span><span style="font-family:'宋体';">表示</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件中的</span><span style="font-family:'Times New Roman';">argument.</span><span style="font-family:'宋体';">其结果是指定的</span><span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋体';">在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件及</span><span style="font-family:'Times New Roman';">included launch</span><span style="font-family:'宋体';">文件中都有相同的值。</span></p>
<p> </p>
<p><span style="font-size:14px;"><strong>5.3 <span style="font-family:'宋体';">创建</span><span style="font-family:'Times New Roman';">groups</span></strong></span></p>
<p>Group element<span style="font-family:'宋体';">可以再大型的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋体';">文件中将指定的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">组织起来。它有两个用处：</span></p>
<p>其一，<span style="font-family:'Times New Roman';">group</span><span style="font-family:'宋体';">可以将几个</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">放进同一个</span><span style="font-family:'Times New Roman';">namespace</span></p>
<p><group <span style="background-color:rgb(255,153,255);">ns</span>=”namespace”></p>
<p><node pkg=”..” .../></p>
<p><node pkg=”..” .../></p>
<p>......</p>
<p></group></p>
<p>注意，如果<span style="font-family:'Times New Roman';">grouped node</span><span style="font-family:'宋体';">已经有它自己的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋体';">，并且是</span><span style="font-family:'Times New Roman';">relative name</span><span style="font-family:'宋体';">，那么该</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋体';">的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋体';">是其</span><span style="font-family:'Times New Roman';">relative name</span><span style="font-family:'宋体';">，并以</span><span style="font-family:'Times New Roman';">group namespace</span><span style="font-family:'宋体';">为后缀。</span></p>
<p>其二，<span style="font-family:'Times New Roman';">group</span><span style="font-family:'宋体';">可以同时启动或者终止一组</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">。</span></p>
<p><group <span style="background-color:rgb(255,153,255);">if</span>=”0 or 1”></p>
<p>......</p>
<p></group></p>
<p>如果该属性的值是<span style="font-family:'Times New Roman';">1</span><span style="font-family:'宋体';">，一切正常；如果该属性的值为</span><span style="font-family:'Times New Roman';">0</span><span style="font-family:'宋体';">，那么</span><span style="font-family:'Times New Roman';">group</span><span style="font-family:'宋体';">内所有的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋体';">都不会运行。</span></p>
<p>同理，除了<span style="font-family:'Times New Roman';">if</span><span style="font-family:'宋体';">，还有</span><span style="font-family:'Times New Roman';">unless</span><span style="font-family:'宋体';">。</span></p>
<p><group <span style="background-color:rgb(255,153,255);">unless</span>=”0 or 1”></p>
<p>......</p>
<p></group></p>
<p>注意，这些属性的合法值只有<span style="font-family:'Times New Roman';">0</span><span style="font-family:'宋体';">和</span><span style="font-family:'Times New Roman';">1.</span></p>
<p>另外，<span style="font-family:'Times New Roman';">group element</span><span style="font-family:'宋体';">中只能使用</span><span style="font-family:'Times New Roman';">ns</span><span style="font-family:'宋体';">，</span><span style="font-family:'Times New Roman';">if</span><span style="font-family:'宋体';">，</span><span style="font-family:'Times New Roman';">unless</span><span style="font-family:'宋体';">这三个属性。</span></p>
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