宁波建站平台_湛江自助建站软件_怎么上百度搜索_上海关键词排名优化怎样

yml写法:

launch:- node:pkg: "pub_app"exec: "publisher"name: "pub_app"namespace: "desertrescue"- node:pkg: "sub_app"exec: "minimal_subscriber"name: "minimal_subscriber"namespace: "desertrescue"

直接ros2 launch /pathto/yml
xml写法：

<launch><node pkg="pub_app" exec="publisher" name="pub_app" output="screen"></node>
</launch>

还可以直接指定参数文件：

<launch><node pkg="my_package" exec="my_node" name="my_node_name" output="screen"><param from="path/to/params.yaml"/></node>
</launch>

或：

<launch><node pkg="my_package" exec="my_node" name="my_node" output="screen"><param from="$(find my_package)/config/params.yaml"/></node>
</launch>

但xml写法需要将xml文件通过cmake或人工拷贝到ros2 install对应的节点路径的share目录下，否则会报错

拷贝之后直接ros2 launch pkg xxx.xml即可，tab会弹出可选xml