ROS学习之launch文件编写

1.一个简单的launch文件

//在catkin_ws/src/下创建一个包，单独存放launch 文件
cd catkin_ws/src
catkin_create_pkg my_launch
//回到catkin_ws目录下
catkin_make

在包 my_launch 里创建一个turtle.launch文件，写入下面的内容：

<launch>
  <node pkg="turtlesim" name="my_turtle" type="turtlesim_node" />
  <node pkg="turtlesim" name="keyboard"  type="turtle_teleop_key" />
</launch>

第二行的意思是要打开pkg="turtlesim"包下的type="turtlesim_node"节点，并为节点取新名字为my_turtle。

//调用launch文件
roslaunch my_package turtle.launch
//打印正在运行的节点
rosnode list

2.稍微复杂的launch文件

在my_launch包里创建一个turtlesim_advertise.launch文件，写入以下内容：

<launch>
  <include file="$(find my_launch)/turtle.launch"/>
  <node pkg="my_pkg" name="publisher" type ="publisher_Node" required="true" output="screen" />
  <node pkg="my_pkg" name="subscriber" type ="subscriber_Node" output="screen" respawn="true">
  </node>
</launch>

运行turtle_advertise.launch

roslaunch my_launch turtle_advertise.launch 

更多关于launch文件的参考： http://wiki.ros.org/roslaunch/XML/