rosのNamesに関して
名前の種類
- base
- relative/name
- /global/name
- ~private/name
参考：
Namespace and Remapping - ROS Answers: Open Source Q&A Forum
ROS Naming and Namespaces | NooTriX
Remap
- topic名やparameter名を簡単に変更できる
例
<launch>
<group ns="turtlesim1">
<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
</group>
<group ns="turtlesim2">
<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
</group>
<node pkg="turtlesim" name="mimic" type="mimic">
<remap from="input" to="turtlesim1/turtle1"/>
<remap from="output" to="turtlesim2/turtle1"/>
</node>
</launch>
参考：
Remapping Arguments - ROS Wiki
ja/Remapping Arguments - ROS Wiki
roslaunch/XML/remap - ROS Wiki
環境変数
参考：
