launch文件语法

2021-02-08 20:21 定义评论 0

<launch>

	<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>

<launch>	launch文件中的根元素采用<launch>标签定义
<node>	启动节点 <node pkg="package-name" type="executable-name" name="node-name"> pkg：节点所在的功能包名称 type：节点的可执行文件名称 name：节点运行时的名称 output、respawn、required、ns、args

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《ROS机器人开发实践》

launch文件语法

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