rqt_console和roslaunch

安装rqt和turtlesim package

sudo apt-get install ros-<distro>-rqt ros-<distro>-rqt-common-plugins ros-<distro>-turtlesim

distro为ROS版本，我的版本为hydro

sudo apt-get install ros-hydro-rqt ros-hydro-rqt-common-plugins ros-hydro-turtlesim

已经安装的话再安装不会影响原来的安装

rqt_console和rqt_logger_level

rqt_console显示当前运行节点的日志输出，rqt_logger_level用来更改正在运行的node的向控制台输出的verbosity level (DEBUG,  INFO,WARN， ERROR，and FATAL)，这几个等级中FATAL优先级最高，DEBUG最低，控制台只会输出所有优先级高于设定优先级的信息，例如设置为WARN，就会输出WARN，ERROR，FATAL的信息

在两个终端中分别运行：

rosrun rqt_console rqt_console

rosrun rqt_logger_level rqt_logger_level

roslaunch

cd ~/catkin_ws

source devel/setup.bash

roscd beginner_tutorials

mkdir launch

cd launch

gedit turtlemimic.launch

复制一下代码后保存

<launch>
	<group ns="turtlesim1">
		<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
	</group>

	<group ns="turtlesim2">
		<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
	</group>

	<node pkg="turtlesim" name="mimic" type="mimic">
		<remap from="input" to="turtlesim1/turtle1"/>
		<remap from="output" to="turtlesim2/turtle1"/>
	</node>

</launch>

打开新的终端，运行

roslaunch beginner_tutorials turtlemimic.launch