5 roslaunch

launch file: XML document that has .launch extension

It launches multiple ROS nodes.

It specifies which nodes to execute, and their parameters, and what other launch files to include.

 

How to create:

1. Go to catkin_ws/src

2. Create the directory to put .launch file

catkin_create_pkg launch

3. Create the file in directory/src

echo "blah" > turtlesim_teleop.launch
nano turtllesim_teleop.launch

4. Edit to following XML file

<launch>
	<node pkg="turtlesim" type="turtlesim_node" name="kyou_turtlesim_node">
	<node pkg="turtlesim" type="turtlesim_teleop_key" name="turtlesim_teleop_node">
</launch>

pkg: package name

type: current name node

name: customized name

 

5. go to catkin_ws/devel file and run

source setup.bash

6. Run above file, then multiple rosnode will be run

roslaunch launch[pkgname] turtlesim_teleop.launch[fname]