Launch启动文件的使用方法

Launch文件可以通过XML文件实现多节点的配置和启动，省去了启动多个终端与多个节点的复杂操作，同时launch文件也不用进行roscore

案例一：运行两个节点

在工作空间src文件夹内新建一个learning_launch功能包

catkin_creat_pkg learning_launch

touch一个simple.launch文件，打开文件在设置-高亮可以更改为xml语法高亮

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

<!-- <launch>和</launch>为launch根标签，分别代表开始和结束 -->
<!-- <node pkg=" " type=" " name=" " output=" " /> 为node标签，作用是开启一个节点，pkg为节点所在功能包名称，type为节点的可执行文件名称，name为节点执行后运行时的名称
     output是将日志信息打印到终端 -->

catkin_make编译
roslaunch learning_launch simple.launch运行

案例二：加载参数与命名空间

<launch>
<!-- <param name=" "  value=" " /> 将名为name,值为value的参数加载到参数服务器中-->
    <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="$(find 功能包名)/功能包下的文件夹名/文件夹下的yaml文件" command="load"/> 将这个yaml文件整个加载到参数服务器中-->
		<rosparam file="$(find learning_launch)/config/param.yaml" command="load"/>
    </node>

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


</launch>

<!-- <launch>和</launch>为launch根标签，分别代表开始和结束 -->
<!-- <node pkg=" " type=" " name=" " output=" " /> 为node标签，作用是开启一个节点，pkg为节点所在功能包名称，type为节点的可执行文件名称，name为节点执行后运行时的名称 -->

注意在运行前，要在功能包内创建config文件夹，并创建param.yaml文件，内容如下，group加缩进也为命名空间

案例三：小海龟跟随的launch启动方法

小海龟跟随见上节ROS中的坐标系管理系统
运行c++文件

 <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python文件,type中加.py

<launch>

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

	<node name="turtle1_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py">
	  <param name="turtle" type="string" value="turtle1" />
	</node>
	<node name="turtle2_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py">
	  <param name="turtle" type="string" value="turtle2" /> 
	</node>

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

</launch>

案例四：remap修改节点名

<launch>
<!-- 先包含learning_launch/launch/simple.launch头文件 -->
    <include file="$(find learning_launch)/launch/simple.launch" />

    <node pkg="turtlesim" type="turtlesim_node" name="turtlesim_node">
<!-- 启动后把from原命名改为to新命名 -->
		<remap from="/turtle1/cmd_vel" to="/cmd_vel"/>
    </node>

</launch>

roslaunch learning_launch turtlesim_remap.launch
重新打开终端输入rostopic list查看当前话题

之前的/turtle1/cmd_vel已经改为/cmd_vel，可以用这个话题名发布速度指令