< ros
rosrun gazebo_ros gzserver rosrun gazebo_ros gzclient rosrun rospy_tutorials talker chatter:=/wg/chatter
l'ultimo comando rimappa i nomi delle risorse (il topic si chiamava chatter)
roslaunch [package] [filename.launch]
Il file deve avere estensione .launch (è in xml) e deve appartenere ad un proprio package-lanciatore, con un proprio workspace…
<launch> <group ns="turtlesim1"> <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"> <remap from="input" to="turtlesim1/turtle1"/> <remap from="output" to="turtlesim2/turtle1"/> </node> </launch>
$ cd ~/catkin_ws $ source devel/setup.bash $ roscd beginner_tutorials $ mkdir launch $ cd launch
roslaunch beginner_tutorials turtlemimic.launch