description='FPath to the ROS2 parameters file to use.':描述参数的字符串,用于对该参数进行说明和文档化。 通过使用DeclareLaunchArgument,我们可以在ROS 2 Launch系统中声明一个名为'params_file'的启动参数,并指定其默认值和描述。之后,可以在Launch文件中引用该参数,并将其传递给节点或其他组件,以便在运行时...
declare_params_file_cmd = DeclareLaunchArgument( 'params_file', default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'), description='Full path to the ROS2 parameters file to use for all launched nodes') declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', ...
'params_file': nav2_param_path}.items(), ), launch_ros.actions.Node( package='rviz2', executable='rviz2', name='rviz2', arguments=['-d', rviz_config_dir], parameters=[{'use_sim_time': use_sim_time}], output='screen'), ]) 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. ...
'config','params.yaml')param_reader_cmd=Node(package='br2_basics',executable='param_reader',parameters=[param_file],output='screen')ld=LaunchDescription()ld.add_action(param_reader_cmd)returnld
3.2 以launch文件的形式 tb3_param_dir=LaunchConfiguration('tb3_param_dir',default=os.path.join(get_package_share_directory('turtlebot3_bringup'),'param',TURTLEBOT3_MODEL+'.yaml'))Node(package='turtlebot3_node',executable='turtlebot3_ros',parameters=[tb3_param_dir],arguments=['-i',usb_por...
TheseLaunchConfigurationsubstitutions allow us to acquire the value of the launch argument in any part of the launch description. 代码语言:Python 复制 # Input parameters declarationnamespace=LaunchConfiguration('namespace')params_file=LaunchConfiguration('params_file')use_sim_time=LaunchConfiguration('use...
ros__parameters: update_rate:100custom_controller: type:"package_name/CustomController"arm_id:"fr3" 5. 加载和使用控制器 启动ROS 2 启动文件: ros2 launch your_package your_launch_file.launch.py 通过ros2 control命令可以加载、配置和启动控制器。例如: ...
意味着,上级launch文件可以传值给下级launch文件。 These LaunchConfiguration substitutions allow us to acquire the value of the launch argument in any part of the launch description. # Input parameters declaration namespace = LaunchConfiguration('namespace') params_file = LaunchConfiguration('params_file...
1. 新增launch文件 参考https://gitee.com/pibot/ros2_tutorials/blob/master/src/cpp_parameters/launch/cpp_parameters_launch.py 不同于ROS1的xml格式的launch文件,ROS2的launch文件直接是一个python文件 对照ROS1的launch <nodename="pibot_driver"pkg="pibot_bringup"type="pibot_driver"output="screen">.....
With a launch file you can write all the nodes with a complete configuration (remapping, parameters, etc.) in a single file, that you can launch with only one command line.First we’ll start with a simple launch file to start 2 nodes. You’ll see the entire process to create, write,...