# 将命令行参数'test_name'传递给'2.launch.py'launch_2 = IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(bringup_dir,'launch','2.launch.py')),launch_arguments={'test_name': test_name}.items())retur
AI代码解释 # Declare the launch argumentsdeclare_namespace_cmd=DeclareLaunchArgument('namespace',default_value='',description='Top-level namespace')declare_params_file_cmd=DeclareLaunchArgument('params_file',default_value=os.path.join(bringup_dir,'params','nav2_params.yaml'),description='Full pa...
launch文件中的<remap>标签可以帮助我们实现这个重映射功能。 比如turtlebot的键盘控制节点发布的速度控制指令话题是/turtlebot/cmd_vel,但是我们自己的机器人订阅的速 度控制话题是/cmd_vel,这时使用<remap>就可以轻松解决问题,将/turtlebot/cmd_vel重映射为/cmd_vel, 我们的机器人就可以接收到速度控制指令了: <remap...
ns = “namespace” :turtlesim 话题名字(turtle1/cmd_vel、turtle1/color_sensor 和 turtle1/pose )被从全局命名空间移动 到 /sim1 和 /sim2 的单独命名空间里。 args:传递参数到节点. 个人理解,arg参数只在launch文件中合法(相当于局部变量),不直接传给节点,所以需 要通过node中的args属性进行传递. 3. ...
name='mimic', # 对节点重新命名 remappings=[ # 资源重映射列表 ('/input/pose','/turtlesim1/turtle1/pose'), # 将/input/pose话题名修改为/turtlesim1/turtle1/pose ('/output/cmd_vel','/turtlesim2/turtle1/cmd_vel'), # ...
path.join(launch_dir, 'rviz_launch.py')), condition=IfCondition(use_rviz), launch_arguments={'namespace': '', 'use_namespace': 'False', 'rviz_config': rviz_config_file}.items()) bringup_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_...
launch In categories:System,Files Synopsis launch([directory=string], [movie=string], [pdfFile=string], [webPage=string]) Note: Strings representing object names and arguments must be separated by commas. This is not depicted in the synopsis....
('/output/cmd_vel','/turtlesim2/turtle1/cmd_vel'), ] ) ]) 在package.xml中添加依赖 <exec_depend>ros2launch</exec_depend> 包结构 src/ package_name/ launch/ package.xml package_name/ resource/ setup.cfg setup.pytest/ Inside your launch directory, create a new launch file called my_scr...
{'node_names': lifecycle_nodes}]) start_rviz_cmd = Node( package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', rviz_config_dir], parameters=[{'use_sim_time': use_sim_time}], output='screen') # perform remap so both turtles listen to the same command topic ...
# Declare the launch arguments declare_namespace_cmd = DeclareLaunchArgument( 'namespace', default_value='', description='Top-level namespace') declare_params_file_cmd = DeclareLaunchArgument( 'params_file', default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), ...