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