• 常規
• type和name
• group組名
• topic重對映
• 設定引數
• 使用rosparam
• 呼叫launch
• 參考

常規

<launch>
  <arg name="model" default="model_name" doc="this is a model name"/>
  <arg name="param_path" default="$(find package_name)/data/" doc="this is a param path" />
  <group ns="group_name">
  <node pkg="package_name1" name="node_name1" type="node_type1" output="screen" >
    <param name="model" value="$(arg model)"/>
    <param name="param_path" value="$(arg param_path)/xx.xml" />
    <remap from="old_topic" to="new_topic"/>
  </node> 
  </group>

  <node pkg="package_name2" name="node_name2" type="node_type2" output="screen" >
    <param name="string" type="str" value="ABC" />
    <param name="int" type="int" value="6" />
    <rosparam param="min_in">[1, 1, 1]</rosparam>
    <rosparam param="paras">
      "a": 1
      "b": 2
    </rosparam>
  </node>

  <node pkg="rviz" name="rviz" type="rviz"  args="-d $(find package_name)/rviz/package_name.rviz">
  </node>
</launch>
 

type和name

<node pkg="package_name2" name="node_name2" type="node_type2" output="screen" >

注: type為可執行檔案的名字, 那麼就是node的名字.

group組名

<group ns="group_name">
</group>

注: 如果裡面的設定的輸出topic為/rslidar_points, 這不帶組名. 如果為rslidar_points, 則帶組名.

topic重對映

<remap from="old_topic" to="new_topic"/>
 

設定引數

<param name="string_name" type="str" value="ABC" />
<param name="int_name" type="int" value="6" />
<param name="param_path" value="$(arg param_path)/xx.xml" />

支援 string、 int 、double和file(xml, csv等)

ros::NodeHandle priv_nh("~");
std::string string_name;
priv_nh.param<std::string>("string_name", string_name, "string_defalut");
priv_nh.param<int>("int_name", int, "0");
 

使用rosparam

<rosparam param="range">[1, 1, 1]</rosparam>
<rosparam param="paras">
  "a": 1
  "b": 2
</rosparam>

使用rosparam向node傳輸引數

std::vector<double> v_range(3, 0);
priv_nh.getParam("range", v_range);
std::map<std::string, double> m_paras;
priv_nh.getParam("paras", m_paras);

呼叫launch

<include file="$(find rs_fusion)/../../launch/lidar_driver_four.launch" />

注: 可以使用..表示上一層.

參考

How to create a launch file? - ROS Answers: Open Source Q&A Forum
roslaunch/XML - ROS Wiki