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...
通过launch文件来修改参数值 在dev_ws/src/python_parameters/launch目录下 新增python_parameters_launch.py,内容如下: from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): return LaunchDescription([ Node( package="python_parameters", executable="param_t...
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...
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...
ROS2 Launch 文件是用 python 编写 它们由 ROS2 CLI 工具执行,即:ros2 launch 在功能包中创建一个启动目录,如下所示 在启动目录使用 <launch_filename>.py创建启动文件 理解启动文件 引用其他启动文件 使用启动文件 使用colcon build 然后 source workspace就可以在CLI(命令行接口)中使用: ...
parameters=[ {'turtlename':'turtle1'} ] ), DeclareLaunchArgument('target_frame', default_value='turtle1', description='Target frame name.'), Node( package='learning_tf', executable='turtle_tf_broadcaster', name='broadcaster2...
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=[ {'use_sim_time': LaunchConfiguration('use_sim_time')}, {'autostart':True}, {'node_names': ['map_saver']}] ) ]) Nav2里有个生命周期的节点管理,所以这里除了启动map_saver_server节点,还需将其节点的状态切换成Active才行。节点启动之后,就发如下命令就可以保存当前建好的地图了: ...
ros2 run python_parameters param_talker 效果: [INFO] [parameter_node]: Hello world! 列出所有参数 ros2 param list 终端下更改参数值 ros2 param set /minimal_param_node my_parameter earth 通过launch文件来修改参数值 在dev_ws/src/python_parameters/launch目录下 ...
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 # 声明launch文件内使用的Argument类 from launch.substitutions import LaunchConfiguration d...