ROSランチのお勉強

rosランチの復習

node

<launch>
  <node pkg="turtlesim" name="sim" type="turtlesim_node"
        output="screen" required="true" />
</launch>

include

他のランチファイルの立ち上げる時

<launch>
  <include file="$(find beginner_tutorials)/launch/turtlemimic.launch" />
</launch>

param

<launch>
  <param name="/background_r" type="int" value="255" />
  <param name="/background_g" type="int" value="255" />
  <param name="/background_b" type="int" value="0" />
</launch>

arg

<launch>
  <arg name="update_color" default="10" />
  <param name="/background_r" value="$(arg update_color)" />
</launch>

実行時に以下のように変更することもできる　↓

$ roslaunch color.launch /background_r:=30

remap,group

<launch>

  <group ns="turtlesim1">
    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
    <node pkg="turtlesim" name="teleop" type="turtle_teleop_key"/>
  </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>