Description: This tutorial introduces ROS using rqt_console and rqt_logger_level for debugging and roslaunch for starting many nodes at once

debug工具

• rqt_console
• rqt_logger_level

rosrun rqt_console rqt_console #界面化的實時的日志監控 rosrun rqt_logger_level rqt_logger_level #界面化的用于設置日志級別 支持的日志級別 Fatal Error Warn Info Debug

roslaunch

echo $ROS_PACKAGE_PATH

<launch> --標明這是一個launch file<group ns="turtlesim1"> --不同的namespace 允許有起2個同樣name的node<node pkg="turtlesim" name="sim" type="turtlesim_node"/></group><group ns="turtlesim2"><node pkg="turtlesim" name="sim" type="turtlesim_node"/></group><node pkg="turtlesim" name="mimic" type="mimic"> --起一個mimic node.<remap from="input" to="turtlesim1/turtle1"/> --This renaming will cause turtlesim2 to mimic turtlesim1<remap from="output" to="turtlesim2/turtle1"/></node></launch> 讀取turtlemimic.launch文件啟動node roslaunch beginner_tutorials turtlemimic.launch

rqt或rqt_graph查看roslaunch實際做了什么

轉載于:https://www.cnblogs.com/sdu20112013/p/10576951.html

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