节点重命名
避免重名问题,两种解决策略:
1、名称重映射(给节点起别名)
2、命名空间(给节点名称添加前缀)
解决重名问题的三种途径:
1、Ros2 run 命令实现
2、launch文件实现
3、编码实现
1.Ros2 run命令实现
1、设置命名空间:
语法:ros2 run 包名 节点名 --ros-args --remap __ns:=命名空间
eg:
ros2 run turtlesim turtlesim_node --ros-args --remap __ns:=/t1
2、ros2 run 名称重映射
语法:ros2 run 包名 节点名 --ros-args --remap __node(__name):=新名称
eg:
ros2 run turtlesim turtlesim_node --ros-args --remap __node:=new_turtlesim
3、命名空间和名称重映射叠加
语法:ros2 run 包名 节点名 --ros-args --remap__ns:=新名称 --remap __name:=新名称
eg:
ros2 run turtlesim turtlesim_node --ros-args --remap __ns:=/t1 --remap __name:=new_turtle
2、Launch文件实现
1.python方式
from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): return LaunchDescription([ Node(package="turtlesim",executable="turtlesim_node",name="turtle1"), Node(package="turtlesim",executable="turtlesim_node",namespace="t1"), Node(package="turtlesim",executable="turtlesim_node",namespace="t1", name="turtle1") ])
2.XML方式
<launch> <node pkg="turtlesim" exec="turtlesim_node" name="turtle1" /> <node pkg="turtlesim" exec="turtlesim_node" namespace="t1" /> <node pkg="turtlesim" exec="turtlesim_node" namespace="t1" name="turtle1" /> </launch>
3.YAML方式
launch: - node: pkg: turtlesim exec: turtlesim_node name: turtle1 - node: pkg: turtlesim exec: turtlesim_node namespace: t1 - node: pkg: turtlesim exec: turtlesim_node namespace: t1 name: turtle1
3.编码实现
1.rclcpp构造函数
Node (const std::string &node_name, const NodeOptions &options=NodeOptions()) Node (const std::string &node_name, const std::string &namespace_, const NodeOptions &options=NodeOptions())
2.rclpy构造函数
Node( node_name, *, context=None, cli_args=None, namespace=None, use_global_arguments=True, enable_rosout=True, start_parameter_services=True, parameter_overrides=None, allow_undeclared_parameters=False, automatically_declare_parameters_from_overrides=False )