ROS学习笔记（十一）——launch

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$ cd ~/catkin_ws
$ source devel/setup.bash
$ roscd test　　#教程中叫做beginner_tutorials，这里叫做test
$ mkdir launch　　#~/catkin_ws/src/test 下建立一个叫做launch 的文件夹
$ cd launch　　#进入launch
新建文档：turtlemimic.launch 添加以下内容：

<launch>

  <group ns="turtlesim1">
    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
  </group>

  <group ns="turtlesim2">
    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
  </group>

  <node pkg="turtlesim" name="mimic" type="mimic">
    <remap from="input" to="turtlesim1/turtle1"/>
    <remap from="output" to="turtlesim2/turtle1"/>
  </node>

</launch>

$ roslaunch test turtlemimic.launch　　#roslaunch指令调用 /test/turtlemimic.launch

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$ rostopic pub /turtlesim1/turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'

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$ rqt_graph