ROS2入门教程-使用 Launch启动监控多个节点

说明：

• 介绍如何使用Launch启动监控多个节点

步骤：

• 创建ROS2包

ros2 launchros2 pkg create <pkg-name> --dependencies [deps]launch

• 修改setup.py文件

import os
from glob import glob
from setuptools import setup

package_name = 'my_package'

setup(
    # Other parameters ...
    data_files=[
       # ... Other data files
        # Include all launch files. This is the most important line here!
        (os.path.join('share', package_name), glob('launch/*.launch.py'))
    ]
)

• 在CMakeLists.txt添加以下内容

# Install launch files.
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

• 在launch目录中，创建.launch.py后缀的新启动文件

• 编写启动文件

import launch
import launch.actions
import launch.substitutions
import launch_ros.actions


def generate_launch_description():
    return launch.LaunchDescription([
        launch.actions.DeclareLaunchArgument(
            'node_prefix',
            default_value=[launch.substitutions.EnvironmentVariable('USER'), '_'],
            description='Prefix for node names'),
        launch_ros.actions.Node(
            package='demo_nodes_cpp', executable='talker', output='screen',
            name=[launch.substitutions.LaunchConfiguration('node_prefix'), 'talker']),
    ])

• 启动文件

ros2 launch my_package script.launch.py