{"id":50641,"date":"2025-08-10T11:29:02","date_gmt":"2025-08-10T03:29:02","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/50641.html"},"modified":"2025-08-10T11:29:02","modified_gmt":"2025-08-10T03:29:02","slug":"ros-launch-%e6%96%87%e4%bb%b6%e5%85%a5%e9%97%a8%e6%8c%87%e5%8d%97%ef%bc%9a%e4%bb%8e%e5%85%a5%e9%97%a8%e5%88%b0%e7%b2%be%e9%80%9a","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/50641.html","title":{"rendered":"ROS Launch \u6587\u4ef6\u5165\u95e8\u6307\u5357\uff1a\u4ece\u5165\u95e8\u5230\u7cbe\u901a"},"content":{"rendered":"<p>\u524d\u8a00 \u5728 ROS (Robot Operating System) \u7684\u4e16\u754c\u91cc&#xff0c;launch \u6587\u4ef6\u662f\u6211\u4eec\u542f\u52a8\u548c\u914d\u7f6e\u590d\u6742\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u201c\u603b\u63a7\u94a5\u5319\u201d\u3002\u7136\u800c&#xff0c;\u5f53\u6211\u4eec\u7b2c\u4e00\u6b21\u770b\u5230\u5b83\u90a3\u5145\u6ee1\u5c16\u62ec\u53f7\u548c\u6807\u7b7e\u7684\u6a21\u6837\u65f6&#xff0c;\u5f80\u5f80\u4f1a\u611f\u5230\u5934\u75bc\u548c\u964c\u751f\u3002\u522b\u62c5\u5fc3&#xff0c;\u8fd9\u7bc7\u7b14\u8bb0\u5c06\u7528\u6700\u901a\u4fd7\u6613\u61c2\u7684\u65b9\u5f0f&#xff0c;\u5e26\u4f60\u5f7b\u5e95\u89e3\u5bc6 launch \u6587\u4ef6\u7684\u6bcf\u4e00\u4e2a\u6838\u5fc3\u6807\u7b7e&#xff0c;\u8ba9\u4f60\u4e5f\u80fd\u8f7b\u677e\u9a7e\u9a6d\u8fd9\u4e2a\u5f3a\u5927\u7684\u5de5\u5177\u3002<\/p>\n<\/p>\n<h4>\u76ee\u5f55<\/h4>\n<ul>\n<li>1.&#096;&lt;launch&gt;&#096; \u6807\u7b7e&#xff1a;\u6211\u4eec\u7684\u5927\u672c\u8425<\/li>\n<li>2. &#096;&lt;arg&gt;&#096; \u6807\u7b7e&#xff1a;\u7075\u6d3b\u914d\u7f6e\u7684\u201c\u542f\u52a8\u53d8\u91cf\u201d<\/li>\n<li>3.&#096;&lt;node&gt;&#096;\u6807\u7b7e&#xff1a;\u542f\u52a8\u6211\u4eec\u7684\u201c\u6f14\u5458\u201d<\/li>\n<li>4.&#096;&lt;param&gt;&#096; \u6807\u7b7e&#xff1a;\u4e3a\u8282\u70b9\u6ce8\u5165\u201c\u7075\u9b42\u201d<\/li>\n<li>5. &#096;&lt;include&gt;&#096; \u548c &#096;&lt;group&gt;&#096;&#xff1a;\u6784\u5efa\u6a21\u5757\u5316\u7684\u201c\u516c\u53f8\u67b6\u6784\u201d<\/li>\n<li>\n<ul>\n<li>&#096;&lt;include&gt;&#096;&#xff1a;\u4ee3\u7801\u7684\u590d\u7528\u4e0e\u8c03\u7528<\/li>\n<li>&#096;&lt;group&gt;&#096;&#xff1a;\u521b\u5efa\u72ec\u7acb\u7684\u201c\u90e8\u95e8\u201d<\/li>\n<\/ul>\n<\/li>\n<li>6. \u9ad8\u6027\u80fd\u4e4b\u9009&#xff1a;&#096;&lt;nodelet&gt;&#096;<\/li>\n<\/ul>\n<h2>1.&lt;launch&gt; \u6807\u7b7e&#xff1a;\u6211\u4eec\u7684\u5927\u672c\u8425<\/h2>\n<p>\u8fd9\u662f launch \u6587\u4ef6\u7684\u6839\u6807\u7b7e&#xff0c;\u6240\u6709\u5176\u4ed6\u6807\u7b7e\u90fd\u5fc5\u987b\u88ab\u5305\u88f9\u5728\u8fd9\u4e00\u5bf9 \u6807\u7b7e\u4e4b\u95f4&#xff0c;\u5b83\u6807\u5fd7\u7740\u6211\u4eec\u914d\u7f6e\u811a\u672c\u7684\u5f00\u59cb\u4e0e\u7ed3\u675f\u3002<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token comment\">&lt;!&#8211;\u5177\u4f53\u5185\u5bb9&#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>launch<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<h2>2. &lt;arg&gt; \u6807\u7b7e&#xff1a;\u7075\u6d3b\u914d\u7f6e\u7684\u201c\u542f\u52a8\u53d8\u91cf\u201d<\/h2>\n<p>\u4f60\u53ef\u4ee5\u628a &lt;arg&gt; \u6807\u7b7e\u770b\u4f5c\u662f\u4e3a launch \u6587\u4ef6\u5b9a\u4e49\u7684\u4e34\u65f6\u53d8\u91cf&#xff0c;\u5b83\u8ba9\u6211\u4eec\u7684\u542f\u52a8\u811a\u672c\u53d8\u5f97\u6781\u5176\u7075\u6d3b\u3002<\/p>\n<p><span class=\"token comment\">&lt;!&#8211; \u8bed\u6cd5: &lt;arg name&#061;&#034;\u53d8\u91cf\u540d&#034; default&#061;&#034;\u9ed8\u8ba4\u503c&#034; \/&gt; &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>is_debug_mode<span class=\"token punctuation\">&#034;<\/span><\/span>   <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>false<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span>         <span class=\"token comment\">&lt;!&#8211; \u5e03\u5c14\u578b &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>camera_id<span class=\"token punctuation\">&#034;<\/span><\/span>       <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span>             <span class=\"token comment\">&lt;!&#8211; \u6574\u6570 &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>publish_rate<span class=\"token punctuation\">&#034;<\/span><\/span>    <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>30.0<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span>          <span class=\"token comment\">&lt;!&#8211; \u6d6e\u70b9\u6570 &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>robot_name<span class=\"token punctuation\">&#034;<\/span><\/span>      <span class=\"token attr-name\">default<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>my_awesome_robot<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">\/&gt;<\/span><\/span> <span class=\"token comment\">&lt;!&#8211; \u5b57\u7b26\u4e32 &#8211;&gt;<\/span><\/p>\n<ul>\n<li>name: \u5b9a\u4e49\u53d8\u91cf\u7684\u540d\u79f0\u3002<\/li>\n<li>default: \u8bbe\u7f6e\u53d8\u91cf\u7684\u9ed8\u8ba4\u503c\u3002ROS \u4f1a\u6839\u636e\u4f60\u5199\u7684\u503c\u81ea\u52a8\u63a8\u65ad\u6570\u636e\u7c7b\u578b&#xff0c;\u975e\u5e38\u65b9\u4fbf\u3002<\/li>\n<\/ul>\n<p>\u6838\u5fc3\u4f18\u52bf&#xff1a;\u4ece\u547d\u4ee4\u884c\u8986\u76d6 arg \u6700\u5927\u7684\u9b45\u529b\u5728\u4e8e&#xff0c;\u6211\u4eec\u53ef\u4ee5\u5728\u6267\u884c roslaunch \u547d\u4ee4\u65f6&#xff0c;\u4ece\u5916\u90e8\u8f7b\u677e\u5730\u4fee\u6539\u8fd9\u4e9b\u201c\u53d8\u91cf\u201d\u7684\u9ed8\u8ba4\u503c&#xff0c;\u800c\u65e0\u9700\u6539\u52a8\u6587\u4ef6\u672c\u8eab\u3002<\/p>\n<p>\u547d\u4ee4\u683c\u5f0f&#xff1a; roslaunch [\u5305\u540d] [launch\u6587\u4ef6\u540d] [\u53d8\u91cf\u540d]:&#061;[\u65b0\u503c]<\/p>\n<p>\u793a\u4f8b&#xff1a;<\/p>\n<p><span class=\"token comment\"># \u542f\u52a8\u65f6&#xff0c;\u4e34\u65f6\u5c06\u673a\u5668\u4eba\u540d\u5b57\u6539\u4e3a &#034;test_bot&#034;&#xff0c;\u5e76\u5f00\u542f\u8c03\u8bd5\u6a21\u5f0f<\/span><br \/>\nroslaunch my_robot_pkg start.launch robot_name:<span class=\"token operator\">&#061;<\/span><span class=\"token string\">&#034;test_bot&#034;<\/span> is_debug_mode:<span class=\"token operator\">&#061;<\/span>true<\/p>\n<p>\u53d8\u91cf\u7684\u8c03\u7528&#xff1a; \u5728 launch \u6587\u4ef6\u5185\u90e8&#xff0c;\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528 $(arg \u53d8\u91cf\u540d) \u7684\u8bed\u6cd5\u6765\u8c03\u7528\u4e4b\u524d\u5b9a\u4e49\u597d\u7684 &lt;arg&gt; \u53d8\u91cf\u3002<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>robot_description<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg robot_name)<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<h2>3.&lt;node&gt;\u6807\u7b7e&#xff1a;\u542f\u52a8\u6211\u4eec\u7684\u201c\u6f14\u5458\u201d<\/h2>\n<p>\u8fd9\u662f launch \u6587\u4ef6\u7684\u5fc3\u810f&#xff0c;\u8d1f\u8d23\u542f\u52a8\u4e00\u4e2a ROS \u8282\u70b9&#xff08;\u4e00\u4e2a\u53ef\u6267\u884c\u7a0b\u5e8f&#xff09;\u3002<\/p>\n<p>\u6807\u51c6\u683c\u5f0f&#xff1a;<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>package_name<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>executable_name<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>node_name<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">output<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>screen<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">respawn<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">required<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>&#8211;some-argument<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n   <span class=\"token comment\">&lt;!&#8211; \u53c2\u6570\u8bbe\u7f6e &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>node<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u6838\u5fc3\u5c5e\u6027\u8be6\u89e3&#xff1a;<\/p>\n<ul>\n<li>pkg&#061;\u201c\u5305\u540d\u201d: \u6307\u5b9a\u8981\u8fd0\u884c\u7684\u7a0b\u5e8f\u6240\u5728\u7684 ROS \u5305\u3002<\/li>\n<li>type&#061;\u201c\u53ef\u6267\u884c\u6587\u4ef6\u540d\u201d: \u6307\u5b9a\u8981\u8fd0\u884c\u7684\u7a0b\u5e8f\u7684\u6587\u4ef6\u540d\u3002<\/li>\n<li>name&#061;\u201c\u8282\u70b9\u8fd0\u884c\u65f6\u540d\u79f0\u201d: \u4e3a\u8fd9\u4e2a\u6b63\u5728\u8fd0\u884c\u7684\u8282\u70b9\u5b9e\u4f8b\u8d77\u4e00\u4e2a\u72ec\u4e00\u65e0\u4e8c\u7684\u540d\u5b57\u3002<\/li>\n<li>output&#061;\u201cscreen|log\u201d: \u63a7\u5236\u8282\u70b9\u7684\u65e5\u5fd7\u8f93\u51fa\u5230\u54ea\u91cc\u3002screen \u4f1a\u76f4\u63a5\u6253\u5370\u5230\u7ec8\u7aef&#xff0c;\u4fbf\u4e8e\u8c03\u8bd5&#xff1b;log (\u9ed8\u8ba4) \u5219\u53ea\u4fdd\u5b58\u5230\u65e5\u5fd7\u6587\u4ef6\u3002<\/li>\n<li>respawn&#061;\u201ctrue|false\u201d: \u8282\u70b9\u610f\u5916\u9000\u51fa\u65f6&#xff0c;\u662f\u5426\u81ea\u52a8\u91cd\u542f\u3002\u5bf9\u4e8e\u6838\u5fc3\u9a71\u52a8\u8282\u70b9\u975e\u5e38\u6709\u7528\u3002<\/li>\n<li>required&#061;\u201ctrue|false\u201d: \u6807\u8bb0\u6b64\u8282\u70b9\u4e3a\u201c\u6838\u5fc3\u5173\u952e\u201d\u8282\u70b9\u3002\u5982\u679c\u5b83\u88ab\u8bbe\u7f6e\u4e3a true \u5e76\u610f\u5916\u9000\u51fa&#xff0c;roslaunch \u4f1a\u7acb\u523b\u7ec8\u6b62\u6240\u6709\u5176\u4ed6\u8282\u70b9&#xff0c;\u786e\u4fdd\u7cfb\u7edf\u5b89\u5168\u3002<\/li>\n<li>args&#061;\u201c\u547d\u4ee4\u884c\u53c2\u6570\u201d: \u5411\u8282\u70b9\u4f20\u9012\u542f\u52a8\u65f6\u7684\u547d\u4ee4\u884c\u53c2\u6570&#xff0c;\u5c31\u50cf\u5728\u7ec8\u7aef\u91cc\u76f4\u63a5\u8fd0\u884c\u4e00\u6837\u3002<\/li>\n<\/ul>\n<h2>4.&lt;param&gt; \u6807\u7b7e&#xff1a;\u4e3a\u8282\u70b9\u6ce8\u5165\u201c\u7075\u9b42\u201d<\/h2>\n<p>\u5982\u679c\u8bf4 &lt;node&gt; \u662f\u542f\u52a8\u4e86\u4e00\u4e2a\u201c\u6f14\u5458\u201d&#xff0c;\u90a3\u4e48&lt;param&gt;\u5c31\u662f\u5728\u7ed9\u8fd9\u4e2a\u6f14\u5458\u8bbe\u7f6e\u201c\u4eba\u8bbe\u201d\u548c\u201c\u53f0\u8bcd\u201d&#xff0c;\u5373\u914d\u7f6e\u8282\u70b9\u7684\u5185\u90e8\u53c2\u6570\u3002<\/p>\n<p>\u7528\u6cd5&#xff1a;<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>my_driver_pkg<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>driver_node<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>my_device<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token comment\">&lt;!&#8211; \u76f4\u63a5\u8bbe\u7f6e\u53c2\u6570\u503c &#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>port_name<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>\/dev\/ttyUSB0<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<p>    <span class=\"token comment\">&lt;!&#8211; \u4f7f\u7528 &lt;arg&gt; \u53d8\u91cf\u7684\u503c\u6765\u8bbe\u7f6e\u53c2\u6570 &#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>param<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>device_name<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(arg robot_name)_sensor<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>node<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>&lt;param&gt;\u5c06\u914d\u7f6e\u4fe1\u606f\u5199\u5165 ROS \u53c2\u6570\u670d\u52a1\u5668&#xff0c;\u8282\u70b9\u5728\u542f\u52a8\u540e\u4f1a\u4e3b\u52a8\u4ece\u670d\u52a1\u5668\u4e0a\u83b7\u53d6\u8fd9\u4e9b\u503c&#xff0c;\u6765\u8c03\u6574\u81ea\u8eab\u7684\u884c\u4e3a\u3002<\/p>\n<h2>5. &lt;include&gt; \u548c &lt;group&gt;&#xff1a;\u6784\u5efa\u6a21\u5757\u5316\u7684\u201c\u516c\u53f8\u67b6\u6784\u201d<\/h2>\n<h3>&lt;include&gt;&#xff1a;\u4ee3\u7801\u7684\u590d\u7528\u4e0e\u8c03\u7528<\/h3>\n<p>include \u6807\u7b7e\u5141\u8bb8\u6211\u4eec\u5c06\u4e00\u4e2a launch \u6587\u4ef6\u5d4c\u5165\u5230\u53e6\u4e00\u4e2a\u4e2d&#xff0c;\u8fd9\u5c31\u50cf\u7f16\u7a0b\u4e2d\u7684 #include \u6216 import&#xff0c;\u662f\u5b9e\u73b0\u914d\u7f6e\u590d\u7528\u7684\u5173\u952e\u3002<\/p>\n<p><span class=\"token comment\">&lt;!&#8211; \u8bed\u6cd5: &lt;include file&#061;&#034;$(find \u5305\u540d)\/\u8def\u5f84\/\u6587\u4ef6\u540d.launch&#034; \/&gt; &#8211;&gt;<\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>include<\/span> <span class=\"token attr-name\">file<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>$(find another_pkg)\/launch\/another.launch<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token comment\">&lt;!&#8211; \u8fd8\u53ef\u4ee5\u5411\u88ab\u5305\u542b\u7684\u6587\u4ef6\u4f20\u9012\u53c2\u6570 &#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>arg<\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>some_variable<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">value<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>true<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>include<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<ul>\n<li>$(find \u5305\u540d): \u8fd9\u662f ROS \u7684\u201c\u5bfb\u8def\u9b54\u6cd5\u201d&#xff0c;\u5b83\u80fd\u81ea\u52a8\u627e\u5230\u6307\u5b9a\u5305\u7684\u7edd\u5bf9\u8def\u5f84&#xff0c;\u8ba9\u6211\u4eec\u7684 launch \u6587\u4ef6\u5177\u6709\u6781\u597d\u7684\u53ef\u79fb\u690d\u6027\u3002<\/li>\n<\/ul>\n<h3>&lt;group&gt;&#xff1a;\u521b\u5efa\u72ec\u7acb\u7684\u201c\u90e8\u95e8\u201d<\/h3>\n<p>group \u6807\u7b7e\u901a\u8fc7\u547d\u540d\u7a7a\u95f4 (namespace)&#xff0c;\u4e3a\u5b83\u5185\u90e8\u7684\u6240\u6709\u5143\u7d20&#xff08;\u8282\u70b9\u3001\u8bdd\u9898\u7b49&#xff09;\u90fd\u52a0\u4e0a\u4e00\u4e2a\u7edf\u4e00\u7684\u201c\u524d\u7f00\u201d&#xff0c;\u5c31\u50cf\u662f\u6210\u7acb\u4e86\u4e00\u5bb6\u201c\u516c\u53f8\u201d\u6216\u4e00\u4e2a\u201c\u90e8\u95e8\u201d\u3002<\/p>\n<p>\u7528\u6cd5&#xff1a;<\/p>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>group<\/span> <span class=\"token attr-name\">ns<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>sensor_front<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>my_driver_pkg<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>driver_node<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>driver<span class=\"token punctuation\">&#034;<\/span><\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n        <span class=\"token comment\">&lt;!&#8211; \u8fd9\u4e2a\u8282\u70b9\u7684\u5168\u540d\u5c06\u662f \/sensor_front\/driver &#8211;&gt;<\/span><br \/>\n    <span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>node<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><br \/>\n<span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;\/<\/span>group<\/span><span class=\"token punctuation\">&gt;<\/span><\/span><\/p>\n<p>\u6838\u5fc3\u4f5c\u7528&#xff1a;<\/p>\n<li>**\u907f\u514d\u547d\u540d\u51b2\u7a81&#xff1a;**\u53ef\u4ee5\u540c\u65f6\u542f\u52a8\u4e24\u4e2a\u76f8\u540c\u7684\u4f20\u611f\u5668&#xff0c;\u53ea\u9700\u5c06\u5b83\u4eec\u653e\u5165\u4e0d\u540c\u7684 group&#xff08;\u5982 sensor_front \u548c sensor_rear&#xff09;\u3002<\/li>\n<li>**\u589e\u5f3a\u903b\u8f91\u7ed3\u6784&#xff1a;**\u8ba9\u590d\u6742\u7684\u7cfb\u7edf\u7ed3\u6784\u4e00\u76ee\u4e86\u7136\u3002<\/li>\n<h2>6. \u9ad8\u6027\u80fd\u4e4b\u9009&#xff1a;&lt;nodelet&gt;<\/h2>\n<p>\u6807\u51c6\u7684 &lt;node&gt; \u5360\u7528\u4e00\u4e2a\u72ec\u7acb\u7684\u8fdb\u7a0b&#xff0c;\u5927\u6570\u636e\u91cf\u901a\u4fe1\u65f6\u6027\u80fd\u5f00\u9500\u8f83\u5927\u3002nodelet \u5219\u662f\u4e00\u79cd\u4f18\u5316\u65b9\u6848&#xff0c;\u5b83\u5141\u8bb8\u591a\u4e2a\u201c\u8f7b\u91cf\u7ea7\u8282\u70b9\u201d\u5728\u540c\u4e00\u4e2a\u8fdb\u7a0b\u5185\u4ee5\u591a\u7ebf\u7a0b\u65b9\u5f0f\u8fd0\u884c&#xff0c;\u901a\u8fc7\u5171\u4eab\u5185\u5b58\u5b9e\u73b0\u96f6\u62f7\u8d1d\u901a\u4fe1&#xff0c;\u6781\u5927\u63d0\u5347\u4e86\u6027\u80fd\u3002<\/p>\n<p>\u4e24\u6b65\u8d70\u7b56\u7565&#xff1a;<\/p>\n<li>\u542f\u52a8\u7ba1\u7406\u5668 (\u5f00\u516c\u53f8\/\u521b\u5efa\u8fdb\u7a0b)&#xff1a;<\/li>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>nodelet<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>nodelet<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>my_manager<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>manager<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<li>\u52a0\u8f7d Nodelet (\u62db\u5458\u5de5\/\u521b\u5efa\u7ebf\u7a0b)&#xff1a;<\/li>\n<p><span class=\"token tag\"><span class=\"token tag\"><span class=\"token punctuation\">&lt;<\/span>node<\/span> <span class=\"token attr-name\">pkg<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>nodelet<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">type<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>nodelet<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token attr-name\">name<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>data_processor<span class=\"token punctuation\">&#034;<\/span><\/span><br \/>\n      <span class=\"token attr-name\">args<\/span><span class=\"token attr-value\"><span class=\"token punctuation attr-equals\">&#061;<\/span><span class=\"token punctuation\">&#034;<\/span>load my_processing_pkg\/MyProcessorNodelet my_manager<span class=\"token punctuation\">&#034;<\/span><\/span> <span class=\"token punctuation\">\/&gt;<\/span><\/span><\/p>\n<ul>\n<li>args&#061;\u201cload [\u5305\u540d]\/[\u7c7b\u540d] [\u7ba1\u7406\u5668\u540d]\u201d \u662f\u5176\u6838\u5fc3\u8bed\u6cd5&#xff0c;\u5b83\u547d\u4ee4 my_manager \u8fd9\u4e2a\u8fdb\u7a0b&#xff0c;\u5728\u5185\u90e8\u52a0\u8f7d\u5e76\u8fd0\u884c my_processing_pkg\/MyProcessorNodelet \u8fd9\u4e2a\u529f\u80fd\u6a21\u5757\u3002<\/li>\n<\/ul>\n<p>\u901a\u8fc7\u8fd9\u5957\u7b14\u8bb0&#xff0c;\u76f8\u4fe1\u4f60\u5df2\u7ecf\u5bf9 launch \u6587\u4ef6\u7684\u5f3a\u5927\u529f\u80fd\u6709\u4e86\u5168\u9762\u800c\u6e05\u6670\u7684\u7406\u89e3\u3002\u73b0\u5728&#xff0c;\u5c31\u53bb\u6253\u5f00\u4f60\u7684\u9879\u76ee&#xff0c;\u5f00\u59cb\u4ece\u5bb9\u5730\u9605\u8bfb\u548c\u7f16\u5199\u5c5e\u4e8e\u4f60\u81ea\u5df1\u7684 launch \u6587\u4ef6\u5427&#xff01;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb691\u6b21\uff0c\u70b9\u8d5e18\u6b21\uff0c\u6536\u85cf16\u6b21\u3002\u4e07\u5b57\u5e72\u8d27\uff0c\u4e00\u6587\u5f7b\u5e95\u641e\u61c2ROS launch\u6587\u4ef6\uff01\u672c\u6587\u7528\u901a\u4fd7\u6613\u61c2\u7684\u6bd4\u55bb\uff0c\u4ecearg\u53d8\u91cf\u3001node\u542f\u52a8\u5230nodelet\u6027\u80fd\u4f18\u5316\uff0c\u9010\u4e00\u89e3\u5bc6launch\u6587\u4ef6\u7684\u6240\u6709\u6838\u5fc3\u6807\u7b7e\u3002\u65e0\u8bba\u4f60\u662fROS\u65b0\u624b\u8fd8\u662f\u5e0c\u671b\u5de9\u56fa\u57fa\u7840\u7684\u5f00\u53d1\u8005\uff0c\u8fd9\u7bc7\u7b14\u8bb0\u90fd\u5c06\u662f\u4f60\u4e0d\u53ef\u591a\u5f97\u7684\u53c2\u8003\u6307\u5357\u3002<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[4941,384],"topic":[],"class_list":["post-50641","post","type-post","status-publish","format-standard","hentry","category-server","tag-ros","tag-384"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>ROS Launch 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