ROS学习(six): using rqt_console and roslaunch

rqt_console

rqt_console 附加到ROS的日志记录框架以显示节点的输出
rqt_logger_level 允许我们在节点运行时更改其详细级别（DEBUG，WARN，INFO和ERROR)

rosrun rqt_console rqt_console

rosrun rqt_logger_level rqt_logger_level

# turtle 会一直向 x = 2 的方向向前走，一直会撞墙
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

launch 文件

没有必要把launch文件放在一个文件夹中

launch 文件用来启动 多个节点
rosrun 启动单个节点

<launch>
	<!--
        namespace: turtlesim1
        one group with one node
        node's name is sim    
    -->
	<group ns="turtlesim1">
		<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
	</group>

    <!--
        namespace: turtlesim2
        one group with one node
        node's name is sim        
    -->
    <!--
        不同的命名空间内部不存在命名相同冲突
    -->
	<group ns="turtlesim2">
		<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
	</group>

    
    <!--
        开启节点 mimic
        话题的输入 和 输出命名为 turtlesim1 和 turtlesim2
        重命名将使 turtlesim2 模仿 turtlesim1
    -->
    <node pkg="turtlesim" name="mimic" type="mimic">
	  <remap from="input" to="turtlesim1/turtle1"/>
	  <remap from="output" to="turtlesim2/turtle1"/>
	</node>

</launch>

fengxuewei@fengxuewei:~/C++_myself/catkin_ws/src/beginner_tutorials/launch$ 
		roslaunch beginner_tutorials turtlemimic.launch 
# 启动launch文件之后，发送消息，两个turtle节点会做相同的动作
# <remap from="input" to="turtlesim1/turtle1"/>
# <remap from="output" to="turtlesim2/turtle1"/> 
rostopic pub /turtlesim1/turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'

# 之前的发送消息
# rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'