command topic forward_turtlesim_commands_to_second_turtlesim_node = Node( package='turtlesim', executable='mimic', name='mimic', remappings=[ ('/input/pose', '/turtlesim1/turtle1/pose'), ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'), ] ) return LaunchDescription([ background_r...
remap标签可以实现节点名称的重映射,每个remap标签包含一个原始名称和一个新名称,在系统运行后原始名称会被替换为新名称。 <remapfrom="turtle1/cmd_vel"to="/cmd_vel"/><!-- remap 标签同样可以嵌入到 node 标签中,以此来作为该 node 的私有重映射 --><node><remapfrom="turtle1/cmd_vel"to="/cmd_vel...
AI代码解释 # Nodes launching commandsstart_map_saver_server_cmd=Node(package='nav2_map_server',executable='map_saver_server',output='screen',parameters=[configured_params])start_lifecycle_manager_cmd=Node(package='nav2_lifecycle_manager',executable='lifecycle_manager',name='lifecycle_manager_slam',...
process[master]: started with pid [21398] ROS_MASTER_URI=http://localhost:11311 setting /run_id to a8e85210-44bd-11ea-aa0f-9822efa1466f process[rosout-1]: started with pid [21409] started core service [/rosout] process[talker-2]: started with pid [21412] process[listener-3]: sta...
<remapfrom="/turtlebot/cmd_vel"to="/cmd_vel"/> 重映射机制在ROS中的使用非常广泛,也非常重要,方法不止这一种,也可以在终端中实现重映射,一定要理解好这种机制。 4、嵌套复用 在复杂的系统中,launch文件往往有很多,这些launch文件之间也会存在依赖关系。
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. ...
To launch an old command or batch file from within a Windows PowerShell script, launch Cmd.exe with the/Cparameter: CMD.EXE /C PAUSE Or if it’s a .bat or .cmd file, you can put it directly within the Windows PowerShell script and run it: ...
command topic forward_turtlesim_commands_to_second_turtlesim_node = Node( package='turtlesim', executable='mimic', name='mimic', remappings=[ ('/input/pose', '/turtlesim1/turtle1/pose'), ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'), ] ) return LaunchDescription([ background_r...
webPage(web)string A web page. Flag can appear in Create mode of commandFlag can appear in Edit mode of command Flag can appear in Query mode of commandFlag can have multiple arguments, passed either as a tuple or a list. Python examples...
/turtle1/cmd_vel /turtle1/color_sensor /turtle1/pose 1. 2. 3. 4. 5. 还有就是name属性给节点指派了名称,它将覆盖任何通过调用ros::init来赋予节点的名称。在默认状态下,从启动文件启动节点的标准输出被重定向到一个日志文件中,而不是在制台显示。该日志文件的名称是: ~/.ros/log/run_id/node_name...