Roslaunch¶
Using roslaunch command¶
Usage:
roslaunch [package] [filename.launch]
First go to the techx2019 package we created and built earlier:
roscd techx2019
Create a launch directory:
mkdir launch
cd launch
The Launch File¶
Now let’s create a launch file called turtlemimic.launch
touch turtlemimic.launch
gedit turtlemimic.launch
Paste the following:
<launch>
<group ns="turtlesim">
<node pkg="turtlesim" name="turtle1" type="turtlesim_node"/>
<node pkg="turtlesim" name="turtle2" type="turtlesim_node"/>
<node pkg="techx2019" name="talker" type="talker.py" output="screen"/>
</group>
</launch>
Run the launch file:
roslaunch techx2019 turtlemimic.launch