ROS2 launch文件demo与parameter设置

项目架构

project_name
│   README.md   
│
└───package_1
│   │   CMakeLists.txt
│   │   package.xml
│   │
│   └───include
│   │   
│   └───src
│   │
│   └───msg
│   │
│   └───config
│   │
│   └───launch
│   │
│   └───srv
│   
└───package_2
│         │   
│         └───...
│
└───...

launch文件的整体编排

基于ROS Eloquent环境实现以下功能，在Dashing及之前版本可能存在一定差异，敬请注意。
ROS2 launch文件由XML格式转换为.py，实例代码如下

#file name: example.launch.py
import os
import launch
from ament_index_python.packages import get_package_share_directory
from launch.substitutions import EnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import DeclareLaunchArgument


def generate_launch_description():
    para_dir = os.path.join(get_package_share_directory('your_package_name'), 'config', 'your_parameter_file.yaml')
    rviz_config_dir = os.path.join(get_package_share_directory('your_package_name'), 'config', 'default.rviz')
    
    return LaunchDescription([
        Node(
            package='your_package_name',
            node_namespace