目錄

• Launch文件語法
• • $<launch>$
  • $<node>$
  • 參數設置
  • • $<param>/<rosparam>$
    • $<arg>$
  • $<remap>$
  • $<include>$
• 實驗
• • 創建功能包
  • 例子
  • • simple.launch
    • turtlesim_parameter_config.launch
    • start_tf_demo_c++.launch
    • start_tf_demo_py.launch
    • turtlesim_remap.launch

平臺：華碩 Thinker Edge R 瑞芯微 RK3399Pro
固件版本：Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615

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記錄自【古月居】古月·ROS入門21講 | 一學就會的ROS機器人入門教程 —— 古月居GYH P19 19.launch啟動文件的使用方法

Launch文件：通過XML文件實現多節點的配置和啟動（可自動啟動ROS Master）

Launch文件語法

$<launch>$

launch文件中的根元素采用$<$launch$>$標簽定義

$<node>$

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

pkg：節點所在的功能包名稱
type：節點的可執行文件名稱
name：節點運行時的名稱
output, respawn, required, ns, args

參數設置

$<param>/<rosparam>$

設置ROS系統運行中的參數，存儲在參數服務器中。

<param name="output_frame" value="odom" />

name：參數名
value：參數值
加載參數文件中的多個參數：

<rosparam file="params.yaml" command="load" ns= "params" />

$<arg>$

launch文件內部的局部變量，僅限于launch文件使用

<arg name="arg-name" default="arg-value" />

name：參數名
value：參數值
調用：

<param name="foo" value="$(arg arg-name)" /> <node name="node" pkg="package" type="type" args="$(arg arg-name)" />

$<remap>$

重映射ROS計算圖資源的命名。

<remap from="/turtlebot/cmd_vel" to="/cmd_vel" />

from：原命名
to：映射之后的命名

$<include>$

包含其他launch文件，類似C語言中的頭文件包含。

<include file="$(dirname)/other.launch" />

file：包含的其他launch文件路徑

更多標簽可參見：http://wiki.ros.org/roslaunch/XML

實驗

創建功能包

cd ~/catkin_workspace/src catkin_create_pkg learning_launch cd learning_launch mkdir launch

例子

simple.launch

nano ~/catkin_workspace/src/learning_launch/launch/simple.launch <launch><node pkg="learning_topic" type="person_subscriber" name="talker" output="screen" /><node pkg="learning_topic" type="person_publisher" name="listener" output="screen" /> </launch>

編譯并運行

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roslaunch learning_launch simple.launch

turtlesim_parameter_config.launch

nano ~/catkin_workspace/src/learning_launch/launch/turtlesim_parameter_config.launch <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> mkdir ~/catkin_workspace/src/learning_launch/config nano ~/catkin_workspace/src/learning_launch/config/param.yaml A: 123 B: "hello"group:C: 456D: "hello"

編譯并運行

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roslaunch learning_launch turtlesim_parameter_config.launch

start_tf_demo_c++.launch

nano ~/catkin_workspace/src/learning_launch/launch/start_tf_demo_c++.launch <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>

編譯并運行

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roslaunch learning_launch start_tf_demo_c++.launch

start_tf_demo_py.launch

nano ~/catkin_workspace/src/learning_launch/launch/start_tf_demo_py.launch <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>

編譯并運行

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roslaunch learning_launch start_tf_demo_py.launch

turtlesim_remap.launch

nano ~/catkin_workspace/src/learning_launch/launch/turtlesim_remap.launch <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>

編譯并運行

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roslaunch learning_launch turtlesim_remap.launch

# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

rostopic list

rostopic pub /cmd_vel geometry_msgs/Twist "linear:x: 1.0y: 0.0z: 0.0 angular:x: 0.0y: 0.0z: 0.0"

# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

總結

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