ROS2——启动多个launch文件

机器人有很多功能，每个功能都有一个launch文件，我们运行机器人时，可能需要同时启动这些launch文件。这时就可以使用IncludeLaunchDescription在launch文件中嵌套启动launch文件。

1、举个栗子

# 导入描述launch文件的库，这是必须的
from launch import LaunchDescription
# 我们需要告诉现在的launch文件，其他要打开的launch文件，在文件系统的哪个位置
# 然后，去打开
# 于是就需要导入OS库和FindPackageShare库
# FindPackageShare库：找到指定名字的包，得到包的路径,例如/home/m/fishbot/src/fishbot_bringup
# 包下就是launch文件夹和xxx.launch.py文件，即launch/xxx.launch.py
# OS库：将上面两个路径合成一个/home/m/fishbot/src/fishbot_bringup/launch/xxx.launch.py,
# 即xxx.launch.py文件的路径
import os
from launch_ros.substitutions import FindPackageShare
# 导入启动另一个launch文件所需要的库
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    """launch内容描述函数，由ros2 launch 扫描调用"""
    # 构造被包含launch文件的路径，
    # 比如：/home/m/fishbot/src/fishbot_bringup/launch/xxx.launch.py（见上面的分析）
    # 找到指定名字的包，得到包的路径,例如/home/m/fishbot/src/fishbot_bringup
    yolov5_ros2_pkg_share = FindPackageShare(package='yolov5_ros2').find('yolov5_ros2')
    # 将两个路径合成一个/home/m/fishbot/src/fishbot_bringup/launch/xxx.launch.py,
    # 即xxx.launch.py文件的路径        
    yolov5_ros2_launch_file_path = os.path.join(yolov5_ros2_pkg_share, 'launch', 'yolov5_ros2.launch.py')    
    
    camera_driver_pkg_share = FindPackageShare(package='fishbot_camera').find('fishbot_camera')
    camera_driver_launch_file_path = os.path.join(camera_driver_pkg_share, 'launch', 'camera_driver.launch.py')    

    # 启动另一个launch的必要格式
    yolov5_ros2_launch_file = IncludeLaunchDescription(
        # yolov5_ros2_launch_file_path为yolov5_ros2包下launch文件的路径
        PythonLaunchDescriptionSource(yolov5_ros2_launch_file_path),
        # 可以在这里传递参数，例如：launch_arguments={'arg_name': 'arg_value'}.items(),
    )

    camera_driver_launch_file = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(camera_driver_launch_file_path),
        # 可以在这里传递参数，例如：launch_arguments={'arg_name': 'arg_value'}.items(),
    )
    
    # 创建LaunchDescription对象launch_description,用于描述launch文件
    ld = LaunchDescription()
    ld.add_action(yolov5_ros2_launch_file)
    ld.add_action(camera_driver_launch_file)

    # 返回让ROS2根据launch描述执行节点
    return ld

2、豪华大礼包——启动多个launch文件的所有配置

from launch import LaunchDescription
import os
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
    """launch内容描述函数，由ros2 launch 扫描调用"""
    yolov5_ros2_pkg_share = FindPackageShare(package='yolov5_ros2').find('yolov5_ros2')
    yolov5_ros2_launch_file_path = os.path.join(yolov5_ros2_pkg_share, 'launch', 'yolov5_ros2.launch.py')    

    another-launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(yolov5_ros2_launch_file_path),
        # 传递参数
        launch_arguments={'arg-name': example-arg}.items()
    )
    ld.add_action(another-launch)
    # 返回让ROS2根据launch描述执行节点
    return ld