ROS2 launch文件编写和执行

ROS2 launch文件编写

ros2的launch文件和ROS1的launch文件编写有所差别，ROS2可用python编写launch问题
以demo_nodes_cpp包中 talker和listen为例：

# Copyright 2018 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""Launch a talker and a listener."""

from launch import LaunchDescription
import launch_ros.actions


def generate_launch_description():
    return LaunchDescription([
        launch_ros.actions.Node(
            package='demo_nodes_cpp', node_executable='talker', output='screen'),
        launch_ros.actions.Node(
            package='demo_nodes_cpp', node_executable='listener', output='screen'),
    ])

保存文件为 talker_listener.launch.py

执行launch

ros2 launch demo_nodes_cpp talker_listener.launch.py

执行结果