2. 通过launch文件传入参数 编辑launch文件 from launch import LaunchDescription from launch_ros.actions import Node from launch import LaunchDescription # launch文件的描述类 from launch.actions import DeclareLaunchArgument #
learning_launch/parameters.launch.py from launchimportLaunchDescription# launch文件的描述类from launch.actions import DeclareLaunchArgument # 声明launch文件内使用的Argument类from launch.substitutions import LaunchConfiguration, TextSubstitutionfr...
2)通过launch文件更改参数 也可以在一个launch文件中设置参数,但首先需要添加一个launch目录。在dev_ws / src / python_parameters /目录中,创建一个新目录launch。在该目录中创建一个名为python_parameters_launch.py的新文件,其代码如下: from launch import LaunchDescription from launch_ros.actions import Node ...
test_launch.launch.py,test_xml_launch.xml 首先使用python实现test_launch.launch.py文件,具体含义参考注释 from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): parameters_basic1 = Node( package="learn_ros2", executable="test_node", ) # 创建Laun...
步骤1:创建launch文件 首先,我们需要创建一个launch文件以定义和使用私有参数。在ROS2中,launch文件使用Python编写,其文件扩展名为.launch.py,我们可以使用ros2 run launch命令运行launch文件。 以下是一个简单的示例launch文件,用于演示定义和使用私有参数:
代码语言:Python AI代码解释 # Input parameters declarationnamespace=LaunchConfiguration('namespace')params_file=LaunchConfiguration('params_file')use_sim_time=LaunchConfiguration('use_sim_time')#如果launch系统中没有这个参数,可以给它赋默认值use_sim_time=LaunchConfiguration('use_sim_time',default='false...
/launch/topics/talker_listener.launch.py" # start a turtlesim_node in the turtlesim1 namespace - node: pkg: "turtlesim" exec: "turtlesim_node" name: "sim" namespace: "turtlesim1" # start another turtlesim_node in the turtlesim2 namespace and use args to set parameters - node: pkg: "...
ros2 launch turtlesim_mimic_launch.py turtlesim_mimic_launch.py 是一个 python 文件,在里面定义了一个 launch 文件的内容。 但ROS1 launch 是不支持 py 文件的,而事实上 launch 文件在 ROS2 中有 3 种格式可以实现: python 脚本 xml 文件 yaml 文件 疑问3:launch 文件里面应该有什么? node 相关...
from launch_ros.actions import Node def generate_launch_description(): gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/gazebo.launch.py']), ) # GAZEBO_MODEL_PATH has to be correctly set for Gazebo to be able to find the model ...
parameters=[ {'turtlename':'turtle1'} ] ), DeclareLaunchArgument('target_frame', default_value='turtle1', description='Target frame name.'), Node( package='learning_tf', executable='turtle_tf_broadcaster', name='broadcaster2...