新建一个py文件,如start.py,其中内容是:
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='calibration',
node_namespace='turtlesim2',
node_executable='calibration_node',
node_name='calibration_node'
),
Node(
package='camera',
node_executable='camera_node',
node_name='camera_node',
)
])
camera和calibration是两个包
然后再visual studio command prompt中执行
ros2 launch start.py
注意: ros2执行launch命令时可能会报错lark模块找不到,用pip安装lark
pip install lark