19.launch启动文件的使用方法

学习视频：https://www.bilibili.com/video/BV1zt411G7Vn?t=603&p=19

Launch文件

Launch文件：通过XML文件实现多字节的配置与启动（可自动启动ROS Master）

优点：不需要打开许多终端来运行rosrun命令，不需要运行roscore命令
Launch文件语法

launch文件中的根元素采用标签定义

启动节点

<node pkg="package-name" type="execuatable-name" name="node-name" />

• pkg： 节点所在的功能包名称
• type： 节点可执行文件的名称
• name： 节点运行时的名称（运行节点之后在ROS系统中的节点名）
• 可选： output、respawn、required、ns、args

<param>/<rosparam>：加载参数

<arg> ： launch文件内部的局部变量

<remap>： 重映射

<include>： 嵌套

更多标签可参考：http://wiki.ros.org/roslaunch/XML

Launch示例

1.创建功能包

cd ~/catkin_ws/src
catkin_create_pkg learning_launch

2.创建launch文件夹，管理launch文件

mkdir ~/catkin_ws/src/learning_launch/launch

3.创建simple.launch文件

gedit ~/catkin_ws/src/learning_launch/launch/simple.launch

复制下面内容

<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

cd ~/catkin_ws/
catkin_make

运行simple.launch文件

roslaunch learning_launch simple.launch

4.创建turtlesim_parameter_config.launch文件

gedit ~/catkin_ws/src/learning_launch/launch/turtlesim_parameter_config.launch

内容为

<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>

添加param.yaml配置文件

mkdir ~/catkin_ws/src/learning_launch/config
gedit ~/catkin_ws/src/learning_launch/config/param.yaml

内容为

A: 123
B: "hello"

group:
  C: 456
  D: "hello"

运行turtlesim_parameter_config.launch文件

roslaunch learning_launch turtlesim_parameter_config.launch

接着打开新的终端，查看参数，结果如下

5.创建start_tf_demo_c++.launch文件

gedit ~/catkin_ws/src/learning_launch/launch/start_tf_demo_c++.launch

内容如下

 <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>

运行指令

roslaunch learning_launch start_tf_demo_c++.launch

效果如下

6.创建start_tf_demo_py.launch文件

gedit ~/catkin_ws/src/learning_launch/launch/start_tf_demo_py.launch

内容如下

<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>

运行指令

roslaunch learning_launch start_tf_demo_py.launch

效果如下

7.创建turtlesim_remap.launch文件

gedit ~/catkin_ws/src/learning_launch/launch/turtlesim_remap.launch

内容如下：

<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>

运行指令

roslaunch learning_launch turtlesim_remap.launch

效果如下