本例子中将小乌龟案例中的 /turtle1/cmd_vel 话题映射到 /cmd_vel ,所以该话题可以使用 ROS中内置的 teleop_twist_keyboard 进行小乌龟速度的控制 <node pkg="turtlesim" type="turtlesim_node" name="myTurtle" output="screen"> <remap from="/turtle1/cmd_vel" to="/cmd_vel"/> </node> 1. 2. 3...
启动仿真器节点 将仿真器中代表海龟运行速度的参数/turtle1/cmd_vel去掉前缀重命名为/cmd_vel
importosfrom ament_index_python.packagesimportget_package_share_directory # 查询功能包路径的方法from launchimportLaunchDescription# launch文件的描述类from launch_ros.actions import Node # 节点启动的描述类def generate_launch_description()...
分别有CLI-launch,Python+XML+YAML对比,launch教程三部分: ros2 launch -h 例如: ros2 launch turtlesim multisim.launch.py 其中,multisim.launch.py 如下: 控制其中的小乌龟用rqt工具或如下指令: 1:ros2 topic pub /turtlesim1/turtle1/cmd_v...ros...
1.python编写launch示例 # example.launch.py import os from ament_index_python import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription ...
代码语言:Python AI代码解释 remappings=[('/input/pose','/turtlesim1/turtle1/pose'),('/output/cmd_vel','/turtlesim2/turtle1/cmd_vel'),] 给节点配置参数文件的示例 代码语言:Python AI代码解释 importosfromament_index_python.packagesimportget_package_share_directoryfromlaunchimportLaunchDescriptionfrom...
('/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 接下来,开始launch本身的描述: defgenerate_launch_description():returnLaunchDescription([ ...
launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch.substitutions import TextSubstitution from launch_ros.actions import Node from launch_ros.actions import PushRosNamespace def generate_launch_description(): # args that can be set ...
在ROS1中launch文件是一种格式以.launch结尾的xml文档;而在ROS2中推荐使用Python方式编写launch文件,此时的launch文件是一种格式以.launch.py结尾的Python脚本。 启动节点 对于一个基础的启动节点的launch文件,需要引用以下库,然后创建一个名为做generate_launch_description的函数: ...
这些导入语句会引入一些 Python 启动模块。类似C++的头文件功能。 fromlaunchimportLaunchDescriptionfromlaunch_ros.actionsimportNode 接下来,启动描述正式开始: defgenerate_launch_description():returnLaunchDescription([]) LaunchDescription 内是一个由三个节点组成的系统,全部来自turtlesim 包。 该系统的目标是启动两个...