ros2如何编写脚本同时启动多个包里的launch.py文件
时间: 2024-01-22 13:18:49 浏览: 22
在ROS2中,可以使用`launch`包来编写和管理启动多个包的脚本。
1. 首先,在你的ROS2工作空间中创建一个新的包,例如`my_launch_pkg`。
2. 在`my_launch_pkg`中创建一个名为`launch`的文件夹,并在该文件夹中创建一个名为`my_launch.py`的Python脚本文件。
3. 在`my_launch.py`中,你可以使用`launch.actions.IncludeLaunchDescription`来引用其他包中的launch文件,例如:
```python
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
# 包1
pkg1_launch_file_dir = LaunchConfiguration('pkg1_launch_file_dir')
pkg1_launch_file = os.path.join(pkg1_launch_file_dir, 'pkg1_launch.py')
pkg1_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(pkg1_launch_file)
)
ld.add_action(pkg1_launch)
# 包2
pkg2_launch_file_dir = LaunchConfiguration('pkg2_launch_file_dir')
pkg2_launch_file = os.path.join(pkg2_launch_file_dir, 'pkg2_launch.py')
pkg2_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(pkg2_launch_file)
)
ld.add_action(pkg2_launch)
return ld
```
在上面的代码中,我们使用`IncludeLaunchDescription`来引用其他包中的launch文件,具体路径需要通过`LaunchConfiguration`来参数化。
4. 最后,你需要在`my_launch_pkg`中创建一个名为`my_launch_launch.py`的启动文件,用于启动`my_launch.py`。在启动文件中,你需要设置`ROS_PACKAGE_PATH`环境变量,以便ROS2可以找到其他包。例如:
```python
import os
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import SetEnvironmentVariable
def generate_launch_description():
# 设置ROS_PACKAGE_PATH环境变量
os.environ['ROS_PACKAGE_PATH'] = os.pathsep.join([
'/path/to/pkg1',
'/path/to/pkg2',
'/path/to/my_launch_pkg'
])
# 启动my_launch.py
my_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(
get_package_share_directory('my_launch_pkg'),
'launch',
'my_launch.py'
))
)
return LaunchDescription([
SetEnvironmentVariable('PYTHONUNBUFFERED', '1'),
my_launch
])
```
在上面的代码中,我们首先设置`ROS_PACKAGE_PATH`环境变量,然后启动`my_launch.py`。
5. 最后,在终端中运行以下命令以启动`my_launch_launch.py`:
```
$ ros2 launch my_launch_pkg my_launch_launch.py
```
这将启动`my_launch.py`,同时启动包1和包2中的`launch.py`文件。