2.3 cmake编译类型功能包的launch文件安装 如果是ament_cmake或者是cmake类型的功能包,我们需要在CmakeLists.txt中添加安装指令,将launch文件夹安装到install目录。 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 将village_li/launch目录下的village.launch.py复制到village_wang/launch下,接着我们编译...
'launch','2.launch.py')),launch_arguments={'test_name': test_name}.items())returnLaunchDescription([# 读取命令行参数'test_name'declare_test_name_cmd,# 打印命令行参数'test_name'LogInfo(msg=['test_name in 1.launch.py is ', LaunchConfiguration...
如果是ament_cmake或者是cmake类型的功能包,我们需要在CmakeLists.txt中添加安装指令,将launch文件夹安装到install目录。 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) 1. 2. 将village_li/launch目录下的village.launch.py复制到village_wang/launch下,接着我们编译运行试一试 colcon build ros2 lau...
[INFO] [launch.user]: test_name in 1.launch.py is A [INFO] [launch.user]: test_name in 2.launch.py is A [INFO] [launch.user]: test_name_file in 2.launch.py is A.yaml 可以看到,1.launch.py中的test_name参数被传递给了2.launch.py,因此1.launch.py中test_name的默认值B被覆盖为了...
Q1:编译后launch文件找不到 A1:如果创建的是C++软件包,只需要在CMakeLists.txt文件末尾(但在ament_package()之前)添加以下代码:(把launch文件夹共享到/install/share文件夹内,所以每次修改launch后要重新编译) # Install launch files. install(DIRECTORY
编辑CMakeLists.txt 增加如下内容 # Install launch files. install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} ) 1. 2. 3. 4. 5. 编译 colcon build --symlink-install --packages-select cpp_component_topic 1. 加载工作空间 . install/setup.bash ...
要开始编写Launch文件，首先创建功能包和一个.py格式的launch文件。在文件中导入描述launch内容的LaunchDescription库和声明节点位置的Node库，并定义一个名为generate_launch_description的函数。这将帮助ROS2识别launch文件的内容。编译和测试launch文件时，确保将文件复制到安装目录。使用特定的cmake命令执行此...
C/C++ (by Microsoft) ROS (optional, by Microsoft) 配置launch.json文件:在工作区中创建.vscode/launch.json文件,配置 ROS 2 节点的调试信息。下面是一个简单的launch.json示例: {"version":"0.2.0","configurations": [ {"name":"ROS2 Debug","type":"cppdbg","request":"launch","program":"${wor...
<export><build_type condition="$ROS_VERSION == 1">catkin</build_type><build_type condition="$ROS_VERSION == 2">ament_cmake</build_type></export> 1.3 launch 文件 ROS2较ROS1,在launch方面进行了比较大的改动。原先ROS1是使用xml格式来编写launch文件,而ROS...