ROS21讲-launch启动文件的使用方法-代码

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已于 2022-04-12 21:53:54 修改

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文章标签：机器学习

于 2022-04-12 21:27:15 首次发布

本文链接：https://blog.csdn.net/qq_27408783/article/details/124134402

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古月居ROS21讲第19讲中用到的代码。

1.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>

2.param.yaml

A: 123
B: "hello"

group:
 C:456
 D:"hello"

3.start_tf_demo_c++.launch

<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>

4.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>