from ament_index_python.packages import get_package_share_directory def generate_launch_description(): turtle1 = Node(package="turtlesim", executable="turtlesim_node", namespace="ns_1", name="t1", exec_name="turtle_label", # 表示流程的标签 respawn=True) turtle2 = Node(package="turtlesim",...
该文件配置启动了两个节点,同时设定了一些配置,其中package和executable我们对比ros2 run命令来理解: ros2 run <package> <executable> namespace就是在节点的名称、主题、服务、动作原有名称之前增加了一个字段,这个功能可以用来区分多个相同功能的节点,例如在机器人装有有若干台相机,那么每台相机都应该有自己的names...
fromlaunchimportLaunchDescriptionfromlaunch.substitutionsimportLaunchConfigurationdefgenerate_launch_description():# 创建launch描述对象ld=LaunchDescription()# 添加节点到launch文件ld.add_action(Node(package='my_package',executable='my_node',name='my_node',# 这里将会用到参数parameters=[{'my_param':LaunchC...
A virtual environment is a directory tree which contains Python executable files and other files which indicate that it is a virtual environment. Common installation tools such assetuptoolsandpipwork as expected with virtual environments. In other words, when a virtual environment is active, they ins...
# 节点所在的命名空间 executable='turtlesim_node', # 节点的可执行文件名 name='sim'# 对节点重新命名 ), Node( # 配置一个节点的启动 package='turtlesim', # 节点所在的功能包 namespace='turtlesim2', # 节点所在的命名空间 executa...
直接给task.json中任务的name就行 postDebugTask ：debug后需要指定的 program - executable or file ...
代码语言:Python AI代码解释 fromlaunchimportLaunchDescriptionimportlaunch_ros.actionsdefgenerate_launch_description():returnLaunchDescription([launch_ros.actions.Node(namespace="turtlesim1",package='turtlesim',executable='turtlesim_node',output='screen'),launch_ros.actions.Node(namespace="turtlesim2",package...
executable='mimic', name='mimic', remappings=[ ('/input/pose','/turtlesim1/turtle1/pose'), ('/output/cmd_vel','/turtlesim2/turtle1/cmd_vel'), ] ) ]) 2.1分析launch文件 这些import语句会引入一些Pythonlaunch模块: fromlaunchimportLaunchDescriptionfromlaunch_ros.actionsimportNode ...
When using a container as thePythonExecutable, this property is disabled because Wing instead obtains the initial directory from the container. Environmentspecifies environment variables that should be added, modified, or removed from the environment when using this launch configuration. The drop down me...
type是CMakeList.txt中对应该文件add_executable(pcan_test src/pcan_test)中可执行文件的名称,在python中则是文件名,因为Python的可执行文件就是文件本身(解释性语言,同Matlab),所以若用C++编程不要误写为文件名全称。 name表示节点启动后的名称,该名称会覆盖ros::init中初始化的名称。