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1、lauch文件作用：启动程序，比rosrun更方便，会自动启动roscore。
2.lauch语法
（1）launch
3.演示
（1）创建包
catkin_create_pkg learning_launch 可以在包的src下创建launch文件夹，将代码文件放在里面，方便管理。
（2）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> - 编译工作空间
在工作空间的根目录下的终端输入
catkin_make - 配置环境
source devel/setup.bash - 运行
roslaunch learning_launch simple.launch 
(3)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="$(find learning_launch)/config/param.yaml" command="load"/> </node> <node pkg="turtlesim" type="turtle_teleop_key" name="turtle_teleop_key" output="screen"/> </launch> 运行语句
roslaunch learning_launch turtlesim_parameter_config.launch 
（4）start_tf_demo_c++.launch
(海龟跟随)
<launch> <!-- Turtlesim Node--> <node pkg="turtlesim" type="turtlesim_node" name="sim"/> <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/> <node pkg="learning_tf" type="turtle_tf_broadcaster" args="/turtle1" name="turtle1_tf_broadcaster" /> <node pkg="learning_tf" type="turtle_tf_broadcaster" args="/turtle2" name="turtle2_tf_broadcaster" /> <node pkg="learning_tf" type="turtle_tf_listener" name="listener" /> </launch> 运行命令
roslaunch learning_launch start_tf_demo_c++.launch 
（5）turtlesim_remap.launch
<launch> <include file="$(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> 免责声明：本站所有文章内容,图片，视频等均是来源于用户投稿和互联网及文摘转载整编而成，不代表本站观点，不承担相关法律责任。其著作权各归其原作者或其出版社所有。如发现本站有涉嫌抄袭侵权/违法违规的内容,侵犯到您的权益，请在线联系站长,一经查实,本站将立刻删除。 本文来自网络,若有侵权，请联系删除，如若转载，请注明出处：https://haidsoft.com/138418.html
