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<meta name="description" content="Launch 文件
1 使用Launch文件
2 創建Launch文件
3 在namespace中啓動nodes
4 remapping names
5 其他的launch元素
1 使用launch文件
Launch文件是ROS提供的，可以同時運行多個nodes的文件。Launch文件以一種特殊的XML格式編寫，在ROS packages中使用廣泛。
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<a href="https://my.csdn.net/qq_29043783" class="user-name" target="_blank">qq_29043783</a>：[reply]qingzhiqumoshi[/reply]
請問這個問題您解決了嗎 </p>
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<a href="https://my.csdn.net/qq_34717531" class="user-name" target="_blank">qq_34717531</a>：用自己的圖片mnist_siamese_train_leveldb和mnist_siamese_t... </p>
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<a href="https://my.csdn.net/qingzhiqumoshi" class="user-name" target="_blank">qingzhiqumoshi</a>：您好，我想問一下在train.txt中每一行是兩張圖片的路徑，那標記放在哪裏，是緊隨其後還是單有一... </p>
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<span class="article-type type-1 float-left">原</span> <h6 class="title-article">ROS launch整理</h6>
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<span class="time">2015年01月21日 22:37:49</span>
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<h1><strong> Launch <span style="font-family:'宋體';">文件</span></strong></h1>
<h3> 1 <span style="font-family:'宋體';">使用</span><span style="font-family:'Times New Roman';">Launch</span><span style="font-family:'宋體';">文件<br /></span> 2 <span style="font-family:'宋體';">創建</span><span style="font-family:'Times New Roman';">Launch</span><span style="font-family:'宋體';">文件<br /></span> 3 <span style="font-family:'宋體';">在</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋體';">中啓動</span><span style="font-family:'Times New Roman';">nodes<br /></span> 4 remapping <span style="font-family:'宋體';">names<br /></span> 5 <span style="font-family:'宋體';">其他的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">元素</span></h3>
<p> </p>
<h3><span style="font-size:18px;">1 <span style="font-family:'宋體';">使用</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件</span></span></h3>
<p>Launch<span style="font-family:'宋體';">文件是</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋體';">提供的，可以同時運行多個</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">的文件。</span><span style="font-family:'Times New Roman';">Launch</span><span style="font-family:'宋體';">文件以一種特殊的</span><span style="font-family:'Times New Roman';">XML</span><span style="font-family:'宋體';">格式編寫，在</span><span style="font-family:'Times New Roman';">ROS packages</span><span style="font-family:'宋體';">中使用廣泛。</span></p>
<pre><strong><span style="font-size:14px;">1.1 <span style="font-family:'宋體';">運行</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件</span></span></strong></pre>
<pre><span style="background-color:rgb(255,255,0);">$ roslaunch package_name launch_file_name</span></pre>
<p>Eg: roslaunch turtlesim example.launch</p>
<pre><strong>（1）Tip1: rosrun<span style="font-family:'宋體';">只能運行一個</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">， </span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">可以同時運行多個</span><span style="font-family:'Times New Roman';">nodes.</span></strong></pre>
<p>Tip2: launch<span style="font-family:'宋體';">文件可以不被包含於</span><span style="font-family:'Times New Roman';">package</span><span style="font-family:'宋體';">中。此時，只需指出該</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件的絕對路徑，即可運行。</span></p>
<p><span style="background-color:rgb(255,255,0);">$ roslaunch completely_path</span></p>
<p>Eg<span style="font-family:'宋體';">：</span><span style="font-family:'Times New Roman';">$ roslaunch ~/opt/ros/indigo/share/turtlesim/launch/example.launch</span></p>
<p>Tip3: <span style="font-family:'宋體';">爲便於執行，每個</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">最好是相互獨立的。</span></p>
<pre><strong>（2）詳細顯示<span style="font-family:'Times New Roman';">(request verbosity)</span></strong></pre>
<p><span style="background-color:rgb(255,255,0);">$ roslaunch -v package_name launch_file_name</span></p>
<pre><strong>（3） 結束<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件</span></strong></pre>
<p>ctrl+c</p>
<p> </p>
<p><span style="font-size:18px;"><strong>2 <span style="font-family:'宋體';">創建</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件</span></strong></span></p>
<p>(1) launch<span style="font-family:'宋體';">文件一般以</span><span style="font-family:'Times New Roman';">.launch</span><span style="font-family:'宋體';">後綴作爲文件名，放在</span><span style="font-family:'Times New Roman';">package</span><span style="font-family:'宋體';">的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件夾下。最簡單的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件可以僅包含幾個</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">。</span></p>
<p>(2) Launch<span style="font-family:'宋體';">文件是</span><span style="font-family:'Times New Roman';">XML</span><span style="font-family:'宋體';">文件，每個</span><span style="font-family:'Times New Roman';">XML</span><span style="font-family:'宋體';">文件必須有一個</span><span style="font-family:'Times New Roman';">root element</span><span style="font-family:'宋體';">。而</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件的</span><span style="font-family:'Times New Roman';">root element</span><span style="font-family:'宋體';">由一對</span><span style="font-family:'Times New Roman';">launch </span><span style="font-family:'宋體';">標籤定義。</span></p>
<p><launch></p>
<p>...</p>
<p></launch></p>
<p>Launch<span style="font-family:'宋體';">文件中的其他</span><span style="font-family:'Times New Roman';">elements</span><span style="font-family:'宋體';">必須都在這一對</span><span style="font-family:'Times New Roman';">tags</span><span style="font-family:'宋體';">之間。</span></p>
<p>(3) launch<span style="font-family:'宋體';">文件的核心是一系列</span><span style="font-family:'Times New Roman';">node elements</span><span style="font-family:'宋體';">，每個</span><span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋體';">啓動一個</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">。</span><span style="font-family:'Times New Roman';">Node element</span><span style="font-family:'宋體';">看起來如下：</span></p>
<p><span style="background-color:rgb(255,255,0);"><node</span></p>
<p><span style="background-color:rgb(255,255,0);"> pkg=”package_name” type=”executable_name” name=”node_name”</span></p>
<p><span style="background-color:rgb(255,255,0);">/></span></p>
<p>Tip1: <span style="font-family:'宋體';">最後的“</span><span style="font-family:'Times New Roman';">/</span><span style="font-family:'宋體';">”是必不可少的。</span></p>
<p>Tip2: <span style="font-family:'宋體';">也可以寫成</span><span style="font-family:'Times New Roman';"><node pkg=</span>”..” type=”...” name=”...”></node></p>
<p>如果該<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">中有其他</span><span style="font-family:'Times New Roman';">tags</span><span style="font-family:'宋體';">，則必須使用這種形式。</span></p>
<p>(4) 一個<span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋體';">包含三個必須的屬性：</span><span style="font-family:'Times New Roman';">pkg, type, name.</span></p>
<p>pkg<span style="font-family:'宋體';">和</span><span style="font-family:'Times New Roman';">type</span><span style="font-family:'宋體';">屬性指出</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋體';">應該運行哪個</span><span style="font-family:'Times New Roman';">pkg</span><span style="font-family:'宋體';">中的哪個</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">，注意：此處的</span><span style="font-family:'Times New Roman';">type</span><span style="font-family:'宋體';">是可執行文件的名稱，而</span><span style="font-family:'Times New Roman';">name</span><span style="font-family:'宋體';">則是可以任意給出的，它覆蓋了原有文件中</span><span style="font-family:'Times New Roman';">ros::init</span><span style="font-family:'宋體';">指定的</span><span style="font-family:'Times New Roman';">node name</span><span style="font-family:'宋體';">。</span></p>
<p>(5) 使用匿名（<span style="font-family:'Times New Roman';">anonymous name</span><span style="font-family:'宋體';">）</span></p>
<p> <span style="background-color:rgb(255,153,255);"> name=”$(anon base_name)”</span></p>
<p>(6) node <span style="font-family:'宋體';">日誌文件（</span><span style="font-family:'Times New Roman';">log file</span><span style="font-family:'宋體';">）</span></p>
<p>運行<span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">和用</span><span style="font-family:'Times New Roman';">rosrun</span><span style="font-family:'宋體';">運行單個節點的區別之一是，默認情況下，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">運行的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">的標準輸出會重定向到</span><span style="font-family:'Times New Roman';">log file</span><span style="font-family:'宋體';">，不顯示在控制檯。</span></p>
<p>該日誌文件的位置和名稱如下：</p>
<p><span style="background-color:rgb(51,255,255);">~/.ros/log/run_id/node_name-number-stdout.log</span></p>
<p>其中，<span style="font-family:'Times New Roman';">run_id</span><span style="font-family:'宋體';">是</span><span style="font-family:'Times New Roman';">master</span><span style="font-family:'宋體';">啓動後生成的特殊標識符，</span><span style="font-family:'Times New Roman';">number</span><span style="font-family:'宋體';">是表示</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">數量的整數。如，</span><span style="font-family:'Times New Roman';">turtlesim-1-stdout.log; teleop_key-3-stdout.log.</span></p>
<p>(7) 輸出到控制檯</p>
<p>用<span style="font-family:'Times New Roman';">output</span><span style="font-family:'宋體';">屬性， </span><span style="background-color:rgb(255,153,255);"><span style="font-family:'Times New Roman';">output=</span>”screen”</span>；這種方法僅顯示一個<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">。</span></p>
<p>若顯示所有<span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">的輸出，用</span><span style="font-family:'Times New Roman';">--screen</span><span style="font-family:'宋體';">命令行。</span></p>
<p><span style="background-color:rgb(255,255,51);">$ roslaunch --screen package_name launch_file_name</span></p>
<p>如果正在運行的文件沒有顯示想要對輸出，可以查看該<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">屬性集中是否有 </span><span style="font-family:'Times New Roman';">output=</span>”screen”.</p>
<p>(8) 要求重生<span style="font-family:'Times New Roman';">(request respawning)</span></p>
<p> 開啓所有<span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">後，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">會監視每個</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">，記錄那些仍然活動的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">。對於每個</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">，當其終止後，我們可以要求</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">重啓該</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">，通過使用</span><span style="font-family:'Times New Roman';">respawn</span><span style="font-family:'宋體';">屬性。</span></p>
<p> <span style="background-color:rgb(255,153,255);"> respawn=”true”</span></p>
<p>(10) 必需的<span style="font-family:'Times New Roman';">nodes</span></p>
<p>required<span style="font-family:'宋體';">屬性與</span><span style="font-family:'Times New Roman';">respawn</span><span style="font-family:'宋體';">相反，不能同時對同一個</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">使用。</span></p>
<p><span style="background-color:rgb(255,153,255);">required=”true”</span></p>
<p>當一個<span style="font-family:'Times New Roman';">required node</span><span style="font-family:'宋體';">終止後，所有其他的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">都會終止，並退出。這種命令有時很有用。比如，當一個很重要的</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">失敗後，整個會話都會被扔掉，那些加上了</span><span style="font-family:'Times New Roman';">respawn</span><span style="font-family:'宋體';">屬性的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">也會停止。</span></p>
<p>(11) 在獨立的窗口運行各<span style="font-family:'Times New Roman';">nodes</span></p>
<p>我們在各自的<span style="font-family:'Times New Roman';">termin</span><span style="font-family:'宋體';">運行</span><span style="font-family:'Times New Roman';">rosrun node_name</span><span style="font-family:'宋體';">；但是運行</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">時，所有的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">共用一個相同的</span><span style="font-family:'Times New Roman';">terminal</span><span style="font-family:'宋體';">，這對於那些需要從控制檯輸入的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">很不方便。可以使用</span><span style="font-family:'Times New Roman';">launch-prefix</span><span style="font-family:'宋體';">屬性。</span></p>
<p><span style="background-color:rgb(255,153,255);">launch-prefix=”command-prefix”</span></p>
<p>Eg<span style="font-family:'宋體';">：</span><span style="font-family:'Times New Roman';">launch-prefix=</span>”xterm -e”</p>
<p>等價於 <span style="font-family:'Times New Roman';">xterm -e rosrun turtlesim turtle_teleop_key</span></p>
<p>xterm <span style="font-family:'宋體';">命令表示新建一個</span><span style="font-family:'Times New Roman';">terminal</span><span style="font-family:'宋體';">； </span><span style="font-family:'Times New Roman';">-e</span><span style="font-family:'宋體';">參數告訴</span><span style="font-family:'Times New Roman';">xterm</span><span style="font-family:'宋體';">執行剩下的命令行。</span></p>
<p>當然，<span style="font-family:'Times New Roman';">launch-prefix</span><span style="font-family:'宋體';">屬性不僅僅限於</span><span style="font-family:'Times New Roman';">xterm</span><span style="font-family:'宋體';">。它可用於調試（通過</span><span style="font-family:'Times New Roman';">gdb</span><span style="font-family:'宋體';">或</span><span style="font-family:'Times New Roman';">valgrind</span><span style="font-family:'宋體';">），或用於降低進程的執行順序（通過</span><span style="font-family:'Times New Roman';">nice</span><span style="font-family:'宋體';">）</span><span style="font-family:'Times New Roman';">.</span></p>
<p> </p>
<p><span style="font-size:18px;"><strong>3 <span style="font-family:'宋體';">在</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋體';">中執行</span><span style="font-family:'Times New Roman';">nodes</span></strong></span></p>
<p>爲<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">設置默認的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋體';">的常用方法——被稱爲“</span><span style="font-family:'Times New Roman';">pushing down into a namespace</span><span style="font-family:'宋體';">”的進程，用於</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件，並在其</span><span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋體';">中指定</span><span style="font-family:'Times New Roman';">ns</span><span style="font-family:'宋體';">屬性。</span></p>
<p><span style="background-color:rgb(255,153,255);">ns=”namespace”</span></p>
<p>launch<span style="font-family:'宋體';">文件中的</span><span style="font-family:'Times New Roman';">node names</span><span style="font-family:'宋體';">是</span><span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋體';">。同一個</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件中，允許不同</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋體';">中出現相同的</span><span style="font-family:'Times New Roman';">node names</span><span style="font-family:'宋體';">。</span><span style="font-family:'Times New Roman';">Roslaunch</span><span style="font-family:'宋體';">要求</span><span style="font-family:'Times New Roman';">node names</span><span style="font-family:'宋體';">必須是</span><span style="font-family:'Times New Roman';">base names</span><span style="font-family:'宋體';">——不指定任何</span><span style="font-family:'Times New Roman';">namespaces</span><span style="font-family:'宋體';">的</span><span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋體';">；如果</span><span style="font-family:'Times New Roman';">node element</span><span style="font-family:'宋體';">中出現</span><span style="font-family:'Times New Roman';">node name</span><span style="font-family:'宋體';">爲</span><span style="font-family:'Times New Roman';">global name</span><span style="font-family:'宋體';">，則會報錯。</span></p>
<p> </p>
<p><span style="font-size:18px;"><strong>4 <span style="font-family:'宋體';">重映射</span><span style="font-family:'Times New Roman';">names</span><span style="font-family:'宋體';">（</span><span style="font-family:'Times New Roman';">remapping names</span><span style="font-family:'宋體';">）</span></strong></span></p>
<p>除了解析<span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋體';">和</span><span style="font-family:'Times New Roman';">private names</span><span style="font-family:'宋體';">，</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋體';">也支持重映射，用於修改</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">當前使用的名稱。</span></p>
<p>重映射相當於換名，每次重映射需提供一個<span style="font-family:'Times New Roman';">original name</span><span style="font-family:'宋體';">和一個</span><span style="font-family:'Times New Roman';">new name</span><span style="font-family:'宋體';">。每次</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">使用它的</span><span style="font-family:'Times New Roman';">original name, ROS client library</span><span style="font-family:'宋體';">都會將其替換爲</span><span style="font-family:'Times New Roman';">remapping name</span><span style="font-family:'宋體';">。</span></p>
<p><span style="font-family:'宋體';"><br /></span></p>
<p><span style="font-family:'宋體';">創建</span><span style="font-family:'Times New Roman';">remapping name</span>兩種方法：</p>
<p>1. 對於單個<span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">，在命令行進行</span><span style="font-family:'Times New Roman';">remapping(remap</span><span style="font-family:'宋體';">對象可以是</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">，</span><span style="font-family:'Times New Roman';">topic</span><span style="font-family:'宋體';">等</span><span style="font-family:'Times New Roman';">)</span><span style="font-family:'宋體';">。</span></p>
<p> original-name:=new-name</p>
<p>Eg: <span style="background-color:rgb(255,255,51);">$ rosrun turtlesim turtlesim_node turtle1/pose:=tim</span></p>
<p><br /></p>
<p>2. 在<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件內</span><span style="font-family:'Times New Roman';">remap names</span><span style="font-family:'宋體';">，使用</span><span style="font-family:'Times New Roman';">remap element</span></p>
<p> <span style="background-color:rgb(255,153,255);"><remap from=”original_name” to “new_name”></span></p>
<p>如果<span style="font-family:'Times New Roman';">remap</span><span style="font-family:'宋體';">出現在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件開頭，作爲</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件的子元素，則該</span><span style="font-family:'Times New Roman';">remapping</span><span style="font-family:'宋體';">將被用於隨後所有的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">。如果</span><span style="font-family:'Times New Roman';">remap</span><span style="font-family:'宋體';">作爲某個</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">的子元素，則只用於該節點。</span></p>
<p>Eg<span style="font-family:'宋體';">：</span><span style="font-family:'Times New Roman';"><node pkg=</span>”turtlesim” type=”turtlesim_node” name=”turtle1”></p>
<p> <remap from =”turtle1/pose” to “tim”></p>
<p></node></p>
<p>注意：在<span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋體';">進行</span><span style="font-family:'Times New Roman';">remapping</span><span style="font-family:'宋體';">之前，</span><span style="font-family:'Times New Roman';">remaping</span><span style="font-family:'宋體';">的所有</span><span style="font-family:'Times New Roman';">name</span><span style="font-family:'宋體';">，包括</span><span style="font-family:'Times New Roman';">original</span><span style="font-family:'宋體';">和</span><span style="font-family:'Times New Roman';">new names</span><span style="font-family:'宋體';">，都將被解析爲</span><span style="font-family:'Times New Roman';">global names</span><span style="font-family:'宋體';">。所以，</span><span style="font-family:'Times New Roman';">remapping</span><span style="font-family:'宋體';">之後所有的名字通常都是</span><span style="font-family:'Times New Roman';">relative names</span><span style="font-family:'宋體';">。</span></p>
<p> </p>
<p><strong><span style="font-size:18px;">5 <span style="font-family:'宋體';">其他的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';"> </span><span style="font-family:'Times New Roman';">elements</span></span></strong></p>
<p><strong><span style="font-size:14px;">5.1 including<span style="font-family:'宋體';">其他文件</span></span></strong></p>
<p>爲包含其他<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件，包括這些</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件的所有</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">和</span><span style="font-family:'Times New Roman';">parameters</span><span style="font-family:'宋體';">，用</span><span style="font-family:'Times New Roman';">include element</span><span style="font-family:'宋體';">。</span></p>
<p><span style="background-color:rgb(255,153,255);"><include file=”path-to-launch-file”></span></p>
<p>這種情況下，<span style="font-family:'Times New Roman';">file</span><span style="font-family:'宋體';">屬性必須寫出該</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件的全部路徑名稱，顯得很繁瑣。因此，常用</span></p>
<p><span style="background-color:rgb(255,153,255);"><include file=”$(find package_name)/launch_file_name”/></span></p>
<p>注意，執行該<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件時，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">會搜索該</span><span style="font-family:'Times New Roman';">package</span><span style="font-family:'宋體';">下的所有子目錄；因此，必須給出</span><span style="font-family:'Times New Roman';">package_name</span><span style="font-family:'宋體';">。此外，</span><span style="font-family:'Times New Roman';">include</span><span style="font-family:'宋體';">也支持</span><span style="font-family:'Times New Roman';">ns</span><span style="font-family:'宋體';">屬性，將它的內容放進指定的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋體';">。</span></p>
<p><span style="background-color:rgb(255,153,255);"><include file=”...” ns=”namespace_name”/></span></p>
<p><br /></p>
<p><strong><span style="font-size:14px;">5.2 Launch arguments</span></strong></p>
<p>爲便於<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件重構，</span><span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">支持</span><span style="font-family:'Times New Roman';">launch arguments,</span><span style="font-family:'宋體';">也成爲</span><span style="font-family:'Times New Roman';">arguments</span><span style="font-family:'宋體';">或者</span><span style="font-family:'Times New Roman';">args</span><span style="font-family:'宋體';">，類似於局部變量。</span></p>
<p>注意：儘管<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋體';">和</span><span style="font-family:'Times New Roman';">parameter</span><span style="font-family:'宋體';">有時可互換，但他們在</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋體';">中的意義完全不同。</span><span style="font-family:'Times New Roman';">Parameters</span><span style="font-family:'宋體';">是</span><span style="font-family:'Times New Roman';">ROS</span><span style="font-family:'宋體';">系統使用的數值，存在</span><span style="font-family:'Times New Roman';">parameter server</span><span style="font-family:'宋體';">上，</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">可通過</span><span style="font-family:'Times New Roman';">ros::param::get</span><span style="font-family:'宋體';">函數編程得到，用戶可通過</span><span style="font-family:'Times New Roman';">rosparam</span><span style="font-family:'宋體';">獲取。與之不同，</span><span style="font-family:'Times New Roman';">arguments</span><span style="font-family:'宋體';">僅在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件內部有意義，</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">不能直接獲取它們的值。</span></p>
<p>(1)<span style="font-family:'宋體';">聲明</span><span style="font-family:'Times New Roman';">argument</span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name”></span></p>
<p>(2)指定<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋體';">的值</span></p>
<p>Launch<span style="font-family:'宋體';">文件中的每個</span><span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋體';">都必須有指定值。賦值方法有好幾種。</span></p>
<p>第一種，在命令行賦值</p>
<p><span style="background-color:rgb(255,255,51);">$ roslaunch package_name launch_file_name arg-name:=arg_value</span></p>
<p>第二種，在聲明<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋體';">時賦值</span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name” default=”arg_name”/></span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name” value=”arg_name”/></span></p>
<p>上面兩行的區別在於，命令行參數可以覆蓋<span style="font-family:'Times New Roman';">default</span><span style="font-family:'宋體';">，但是不能重寫</span><span style="font-family:'Times New Roman';">value</span><span style="font-family:'宋體';">的值。</span></p>
<p>(3)獲取變量值</p>
<p>一旦聲明某個<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋體';">並賦值後，我們可以通過</span><span style="font-family:'Times New Roman';">arg</span><span style="font-family:'宋體';">使用該</span><span style="font-family:'Times New Roman';">argument.</span></p>
<p><span style="background-color:rgb(255,153,255);">$(arg arg-name)</span></p>
<p>如果該行出現，<span style="font-family:'Times New Roman';">roslaunch</span><span style="font-family:'宋體';">將會用給定</span><span style="font-family:'Times New Roman';">arg-name</span><span style="font-family:'宋體';">的值替換其左邊的值。</span></p>
<p>(4)將<span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋體';">值傳給</span><span style="font-family:'Times New Roman';">included launch</span><span style="font-family:'宋體';">文件</span></p>
<p><include file=”path-to-file”></p>
<p><arg name=”arg_name” value=”arg_value”/></p>
<p>......</p>
<p></include></p>
<p>若在<span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件中，</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件及其包含的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件出現出現相同的</span><span style="font-family:'Times New Roman';">arguments</span><span style="font-family:'宋體';">，則需在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件及</span><span style="font-family:'Times New Roman';">included launch</span><span style="font-family:'宋體';">文件中同時寫：</span></p>
<p><span style="background-color:rgb(255,153,255);"><arg name=”arg_name” value=”$(arg arg_name)”/></span></p>
<p>第一個<span style="font-family:'Times New Roman';">arg_name</span><span style="font-family:'宋體';">表示</span><span style="font-family:'Times New Roman';">indluded launch</span><span style="font-family:'宋體';">文件中的</span><span style="font-family:'Times New Roman';">argument,</span><span style="font-family:'宋體';">第二個</span><span style="font-family:'Times New Roman';">arg_name</span><span style="font-family:'宋體';">表示</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件中的</span><span style="font-family:'Times New Roman';">argument.</span><span style="font-family:'宋體';">其結果是指定的</span><span style="font-family:'Times New Roman';">argument</span><span style="font-family:'宋體';">在</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件及</span><span style="font-family:'Times New Roman';">included launch</span><span style="font-family:'宋體';">文件中都有相同的值。</span></p>
<p> </p>
<p><span style="font-size:14px;"><strong>5.3 <span style="font-family:'宋體';">創建</span><span style="font-family:'Times New Roman';">groups</span></strong></span></p>
<p>Group element<span style="font-family:'宋體';">可以再大型的</span><span style="font-family:'Times New Roman';">launch</span><span style="font-family:'宋體';">文件中將指定的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">組織起來。它有兩個用處：</span></p>
<p>其一，<span style="font-family:'Times New Roman';">group</span><span style="font-family:'宋體';">可以將幾個</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">放進同一個</span><span style="font-family:'Times New Roman';">namespace</span></p>
<p><group <span style="background-color:rgb(255,153,255);">ns</span>=”namespace”></p>
<p><node pkg=”..” .../></p>
<p><node pkg=”..” .../></p>
<p>......</p>
<p></group></p>
<p>注意，如果<span style="font-family:'Times New Roman';">grouped node</span><span style="font-family:'宋體';">已經有它自己的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋體';">，並且是</span><span style="font-family:'Times New Roman';">relative name</span><span style="font-family:'宋體';">，那麼該</span><span style="font-family:'Times New Roman';">node</span><span style="font-family:'宋體';">的</span><span style="font-family:'Times New Roman';">namespace</span><span style="font-family:'宋體';">是其</span><span style="font-family:'Times New Roman';">relative name</span><span style="font-family:'宋體';">，並以</span><span style="font-family:'Times New Roman';">group namespace</span><span style="font-family:'宋體';">爲後綴。</span></p>
<p>其二，<span style="font-family:'Times New Roman';">group</span><span style="font-family:'宋體';">可以同時啓動或者終止一組</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">。</span></p>
<p><group <span style="background-color:rgb(255,153,255);">if</span>=”0 or 1”></p>
<p>......</p>
<p></group></p>
<p>如果該屬性的值是<span style="font-family:'Times New Roman';">1</span><span style="font-family:'宋體';">，一切正常；如果該屬性的值爲</span><span style="font-family:'Times New Roman';">0</span><span style="font-family:'宋體';">，那麼</span><span style="font-family:'Times New Roman';">group</span><span style="font-family:'宋體';">內所有的</span><span style="font-family:'Times New Roman';">nodes</span><span style="font-family:'宋體';">都不會運行。</span></p>
<p>同理，除了<span style="font-family:'Times New Roman';">if</span><span style="font-family:'宋體';">，還有</span><span style="font-family:'Times New Roman';">unless</span><span style="font-family:'宋體';">。</span></p>
<p><group <span style="background-color:rgb(255,153,255);">unless</span>=”0 or 1”></p>
<p>......</p>
<p></group></p>
<p>注意，這些屬性的合法值只有<span style="font-family:'Times New Roman';">0</span><span style="font-family:'宋體';">和</span><span style="font-family:'Times New Roman';">1.</span></p>
<p>另外，<span style="font-family:'Times New Roman';">group element</span><span style="font-family:'宋體';">中只能使用</span><span style="font-family:'Times New Roman';">ns</span><span style="font-family:'宋體';">，</span><span style="font-family:'Times New Roman';">if</span><span style="font-family:'宋體';">，</span><span style="font-family:'Times New Roman';">unless</span><span style="font-family:'宋體';">這三個屬性。</span></p>
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