例如:
<launch>
<!--调用laser_calibration_node节点-->
<node pkg="laser_calibration" name="laser_calibration" type="laser_calibration_node" output="screen">
<rosparam file="$(find laser_calibration)/config/parameter.yaml"/>
<remap from="/laser_calibration/odom" to="/odom"/>
<remap from="/laser_calibration/laserodom" to="/laserodom"/>
</node>
<!--调用其他launch文件-->
<include file="$(find tf_odom)/launch/transform.launch"/>
</launch>
node pkg为节点所在文件夹名,name可以随便取,type为编译生成的节点名字;
程序运行时,输入rosnode list,显示的会是launch文件里写的name;
remap修改接收和发布的话题名称,from(程序内部),to(程序外部)