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roslaunch 包含了 roslaunch 以及许多其他运行ROS节点的辅助工具.

roslaunch

‘roslaunch’是管理ROS节点重要的工具. 它根据.launch来管理节点的启动与结束.

Launch syntax

绝大多数’roslaunch‘命令需要以launch文件的文件名作为参数。你可以指定launch文件的路径,也可以指定一个软件包名和其中的launch文件名。 例如:

roslaunch <软件包名> <launch文件名> [参数]

roslaunch <launch-file-path> [args]

-p port

--wait

--local

--screen

-v

--dump-params

Passing in args

If the file you are launching specifies args that require setting, you can do so using an identical syntax to ROS remapping arguments, e.g.:

roslaunch my_file.launch arg:=value

Non-launch options

The following options provide information about a launch file without actually doing a launch. These options use the same launch-file resolution as the regular roslaunch command. You can either specify the file path of the launch file, or you can specify a package name and launch file in that package, e.g. for the example.launch file in the roslaunch package, you can use:

--nodes <package-name> <launch-file>
--nodes <launch-file>

--args <node-name> <package-name> <launch-file>
--args <node-name> <launch-file>

--find <node-name> <package-name> <launch-file>
--find <node-name> <launch-file>

--files <filename>

Internal-use only options

roslaunch uses several command-line options that are for internal use only, including -c, -u, and --core.

Environment Variables (advanced users)

NOTE: this section is intended for advanced users only

roslaunch-deps

roslaunch-deps reports which ROS Packages a .launch file depends on. It can also track down command build problems, such as missing dependencies in package manifests. One command you may wish to run is to build all the packages necessary for a launch file:

rosmake `roslaunch-deps file.launch`

Usage

To get warnings about dependencies missing in manifest files, run with the -w warn option:

$ roslaunch-deps -w file.launch

To get more verbose output to help track where a dependency is coming from, run with the -v verbose option:

$ roslaunch-deps -v file.launch

roslaunch-logs

Roslaunch stores log files for a particular run together in a subdirectory of the ROS log directory ($ROS_ROOT/log or $ROS_LOG_DIR). In general, logs files are stored in ROS_LOG_DIR/run_id, where run_id is a unique ID associated with a particular run of a roscore.

Usage

roslaunch-logs is meant to be used together with the 'cd' command, e.g.

cd `roslaunch-logs`

You can type this command to quickly go to the directory with the log files for your nodes.


2020-08-08 12:30