ROS学习笔记（三）：rosrun和runlaunch的用法

一、区别

rosrun是运行一个单独节点的命令，如果要运行多个节点，则需要使用多次rosrun命令。

roslaunch采用XML的格式对需要运行的节点进行描述，可以同时运行多个节点。例如：

<launch>
  <node name="listener" pkg="rospy_tutorials" type="listener.py" output="screen"/>
  <node name="publish_on_shutdown" pkg="rospy_tutorials" type="publish_on_shutdown.py" output="screen"/>
</launch>

可以同时运行listener和publish_on_shutdown两个节点。

二、roslaunch使用

1.在launch文件中录制rosbag包

<launch>
  <node name="record" pkg="rosbag" type="record" output="screen" args="-o  $(find record_bag)/../../bag /topic_1 /topic_2 /topic_3"/>
</launch>

2.在launch文件中启动其他launch文件

<launch>
  <include file="$(find packagexx)/launch/111.launch" />
</launch>

3.roslaunch示例

<launch>
  <arg name="model" default="model_name" doc="this is a model name"/>
  <arg name="param_path" default="$(find package_name)/data/" doc="this is a param path" />
  <group ns="group_name">
  <node pkg="package_name1" name="node_name1" type="node_type1" output="screen" >
    <param name="model" value="$(arg model)"/>
    <param name="param_path" value="$(arg param_path)/xx.xml" />
    <remap from="old_topic" to="new_topic"/>
  </node> 
  </group>

  <node pkg="package_name2" name="node_name2" type="node_type2" output="screen" >
    <param name="string" type="str" value="ABC" />
    <param name="int" type="int" value="6" />
    <rosparam param="min_in">[1, 1, 1]</rosparam>
    <rosparam param="paras">
      "a": 1
      "b": 2
    </rosparam>
  </node>

  <node pkg="rviz" name="rviz" type="rviz"  args="-d $(find package_name)/rviz/package_name.rviz">
  </node>
</launch>

4.ros设置组名

<group ns="group_name">
</group>

 

 

本文参考

【1】ros之launch文件
https://www.cnblogs.com/ChrisCoder/p/9949643.html