自定义ROS LAUNCH文件，快捷启动

第一个launch file用于记录数据，因为环境的关系，数据存储以后便于仿真

<launch>

<!--file name: stage_ros.launch/>
	<machine name="local_alt" address="localhost" default="true" />

	<node name="stageros" pkg="stage_ros" type="stageros" args="$(find stage_controllers)/world/test.world" required="true"/>
	<node pkg="teleop_twist_keyboard" name="teleop" type="teleop_twist_keyboard.py" output="screen"/>
    <node name="record" pkg="rosbag" type="record" args="-a" /> 

</launch>

存放在stage_controllers

teleop_twist_keyboard节点用于控制机器人的移动。

.bag文件路径 ~/.ros/

启动命令为：

roslaunch stage_controllers stage_ros.launch

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/stage/irat/cmd_vel

第2个launch file用于快捷启动ratslam以及rviz进行仿真

<launch>

	<machine name="local_alt" address="localhost" default="true" />
	
	<node name="RatSLAMLocalViewCells" pkg="ratslam_ros" type="ratslam_lv" args="$(find ratslam_ros)/config/config_neural_slam.txt _image_transport:=compressed" cwd="node" required="true" output="screen"/>
	<node name="RatSLAMPoseCells" pkg="ratslam_ros" type="ratslam_pc" args="$(find ratslam_ros)/config/config_neural_slam.txt _image_transport:=compressed" cwd="node" required="true" />
	<node name="RatSLAMExperienceMap" pkg="ratslam_ros" type="ratslam_em" args="$(find ratslam_ros)/config/config_neural_slam.txt _image_transport:=compressed" cwd="node" required="true" />	
	<node name="my_pcl_node" pkg="my_pcl" type="my_pcl_node" cwd="node" required="true" />
	<node type="rviz" name="rviz" pkg="rviz" args="-d $(find ratslam_ros)/neural_slam.rviz" />

</launch>

pkg:ROS包的名字

type:NODE节点名字

name:自定义节点名称

args:自定义参数

neural_slam.rviz文件为我保存的rviz配置文件，用于快捷启动