lauch启动文件的使用方法

1、lauch文件作用：启动程序，比rosrun更方便，会自动启动roscore。

2.lauch语法

（1）launch

(2)node

(3)param

(4)arg

(5)remap

(6)include

3.演示

（1）创建包

catkin_create_pkg learning_launch

可以在包的src下创建launch文件夹，将代码文件放在里面，方便管理。

（2）simple.launch

<launch>
    <node pkg="learning_topic" type="person_subscriber" name="talker" output="screen" />
    <node pkg="learning_topic" type="person_publisher" name="listener" output="screen" /> 
</launch>

• 编译工作空间
  在工作空间的根目录下的终端输入

catkin_make

• 配置环境

source devel/setup.bash

• 运行

roslaunch learning_launch simple.launch

(3)turtlesim_parameter_config.launch

<launch>

	<param name="/turtle_number"   value="2"/>

    <node pkg="turtlesim" type="turtlesim_node" name="turtlesim_node">
		<param name="turtle_name1"   value="Tom"/>
		<param name="turtle_name2"   value="Jerry"/>

		<rosparam file="$(find learning_launch)/config/param.yaml" command="load"/>
	</node>

    <node pkg="turtlesim" type="turtle_teleop_key" name="turtle_teleop_key" output="screen"/>

</launch>

运行语句

roslaunch learning_launch turtlesim_parameter_config.launch 

（4）start_tf_demo_c++.launch
(海龟跟随)

 <launch>

    <!-- Turtlesim Node-->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>
    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>

    <node pkg="learning_tf" type="turtle_tf_broadcaster" args="/turtle1" name="turtle1_tf_broadcaster" />
    <node pkg="learning_tf" type="turtle_tf_broadcaster" args="/turtle2" name="turtle2_tf_broadcaster" />

    <node pkg="learning_tf" type="turtle_tf_listener" name="listener" />

  </launch>

运行命令

 roslaunch learning_launch start_tf_demo_c++.launch 

（5）turtlesim_remap.launch

<launch>

	<include file="$(find learning_launch)/launch/simple.launch" />

    <node pkg="turtlesim" type="turtlesim_node" name="turtlesim_node">
		<remap from="/turtle1/cmd_vel" to="/cmd_vel"/>
	</node>

</launch>