[ROS] use of roslaunch

roslaunch Can be used to start the definition in launch Multiple nodes in the file . Its main functions include ：
1 Start node
2 Start other launch file
3 Configuration parameters
4 Set the node

More detailed documents can be found in Click on or Click on
Here we mainly show how to use launch Start one or more nodes
launch The file is similar to xml The label language of

Preparation

About the following talker and listener file , You can refer to Get into
newly build launch Folder , Storage launch file

Use roslaunch Start a node

launch The contents of the document ：

<launch>
        <node pkg="test_tutorials" name="talker" type="talker" output="screen" respawn="true"/>
</launch>

【 notes 】
pkg： The function package name of the node
type: The executable name of the node
name: The name of the node runtime
output=“log | screen” ( Optional ), Log sending destination , It can be set to log Log files , or screen The screen , The default is log
respawn=“true | false” ( Optional ), If the node exits , Whether to restart automatically
required=“true | false” ( Optional ), Whether the node must , If true, Then, if the node exits , Will kill the whole roslaunch
ns=“xxx” ( Optional ), In the specified namespace xxx Start node
machine=“ machine name ”, Start the node on the specified machine
args=“xxx xxx xxx” ( Optional ), Pass parameters to node

roslaunch test_tutorials test_begin.launch

It's obvious here , adopt roslaunch It starts a talker node , And through launch File start node , It's activated roscore+rosrun test_tutorials talker Combination of two commands , It's more convenient .

Use roslaunch Start two nodes ( At the same time to start talker and listener)

<launch>
        <node pkg="test_tutorials" name="talker" type="talker" output="screen" respawn="true"/>
        <node pkg="test_tutorials" name="listener" type="listener" output="screen" respawn="true"/>
</launch>

Using the calculation chart, you can see

Use one launch File calls another launch file

Create a new one test_launch.launch file

Enter the following

<launch>
   <include file="$(find test_tutorials)/launch/test_begin.launch" />
</launch>

And then run

roslaunch test_tutorials test_launch.launch

Then... Is successfully opened test_begin.launch The content in

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