ROS 机器人技术 - 编写一个 launch 启动多个节点
1. 增加 source 到 bashrc 中
为了不用在小车的 Ubuntu 上每次都 source
自己的工作空间,我把自己的 workspace 加到 ~/.bashrc
文件末尾:
然后重启 shell,之后就会自动 source 我得工作空间,可以使用 roscd 直接进入指定包中:
roscd pkg_name
2. 编写启动 launch
每次调试小车,都要分别启动很多节点,比如融合、建图、Loam、Rviz 等,所以我把这些节点全部配置在一个 launch 中启动,直接一行命令启动,这样调试就方便多了,大大节省时间:
lidar_camera_fusion\launch
:lidar_camera_fusion.launch
octomap_server\rviz
:octomap_debug.rviz
octomap_server\launch
:dlonng_octomap_test.launch
<launch>
<!-- Start ZED! -->
<include file = "$(find zed_cpu_ros)/launch/zed_cpu_ros.launch" />
<!-- Start Robosense LIDAR! -->
<include file = "$(find rslidar_pointcloud)/launch/rs_lidar_16.launch" />
<!-- Start fusion node! -->
<include file = "$(find lidar_camera_fusion)/launch/lidar_camera_fusion.launch" />
<!-- Start Octomap node! -->
<include file = "$(find octomap_server)/launch/octomap_server_start.launch" />
<!-- Start octomap_debug.rviz -->
<node pkg = "rviz" type = "rviz" name = "$(anon rviz)" respawn = "false" output = "screen" args = "-d $(find octomap_server)/rviz/octomap_debug.rviz"/>
<!-- Start Lego Loam! -->
<include file = "$(find lego_loam)/launch/demo.launch" />
<!-- Only using in map build test! -->
<node pkg = "tf2_ros" type = "static_transform_publisher" name = "dlonng_static_test_broadcaster" args = "0 0 0 0 0 0 base_link rslidar" />
</launch>
3. 补充一些小 Tips
如果不知道要启动的包的 launch 文件叫啥,可以查找指定包的路径,然后进入看看 launch 文件夹下面的启动文件叫啥:
rospack list | grep "zed_cpu_ros"
rospack list | grep "rslidar_pointcloud"
之后我就可以从 octomap_server 中一键启动所有我建图要用的节点了:
roslaunch octomap_server dlonng_octomap_test.launch
但是启动过程中遇到 rviz 节点名字重复的问题,我把雷达启动的 RVIZ 关掉或者把启动 RVIZ 的节点名称改变下,防止重复。