ROS机器人Diego 1#制作（十三）launch启动文件

Diego 1#中已经整合了不少的组件，一个一个启动比较麻烦，这里整理了一份启动的launch文件。

<launch>  <master auto="start"/>  <arg name="camera" default="camera" />  <node pkg="xfei_asr" type="tts_subscribe_speak" name="tts_subscribe_speak" output="screen">  </node>  <node pkg="sound_play" type="soundplay_node.py" name="soundplay_node" output="screen">  </node>  <node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">      <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />  </node>    <node pkg="diego_nav" type="robot_camera_tf_publisher" name="robot_camera_tf_publisher" output="screen">  </node>      <node pkg="diego_nav" type="robot_laser_tf_publisher" name="robot_laser_tf_publisher" output="screen">  </node>   <!-- start sensor-->  <include file="$(find openni_launch)/launch/openni.launch">    <arg name="camera" default="$(arg camera)"/>  </include>  <!-- run pointcloud_to_laserscan node -->  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">      <remap from="cloud_in" to="$(arg camera)/depth_registered/points"/>      <remap from="scan" to="$(arg camera)/scan"/>      <rosparam>          target_frame: camera_link # Leave disabled to output scan in pointcloud frame          transform_tolerance: 0.01          min_height: 0.0          max_height: 1.0          angle_min: -1.5708 # -M_PI/2          angle_max: 1.5708 # M_PI/2          angle_increment: 0.087 # M_PI/360.0          scan_time: 0.3333          range_min: 0.45          range_max: 4.0          use_inf: true          # Concurrency level, affects number of pointclouds queued for processing and number of threads used          # 0 : Detect number of cores          # 1 : Single threaded          # 2->inf : Parallelism level          concurrency_level: 1      </rosparam>  </node>    <!-- gmapping node -->  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">    <remap from="scan" to="$(arg camera)/scan"/>    <param name="delta" value="0.1"/>    <param name="maxUrange" value="4.99"/>       <param name="xmin" value="-5.0"/>       <param name="ymin" value="-5.0"/>    <param name="xmax" value="5.0"/>    <param name="ymax" value="5.0"/>    <param name="particles" value="60"/>    <param name="srr" value="0"/>    <param name="srt" value="0"/>    <param name="str" value="0.05"/>    <param name="stt" value="0.05"/>    <param name="minimumScore" value="200"/>    <param name="map_update_interval" value="1"/>    <param name="lsigma" value="0.05"/>  </node>    <!-- amcl node -->  <node pkg="amcl" type="amcl" name="amcl" output="screen">  <remap from="scan" to="$(arg camera)/scan"/>  <!-- Publish scans from best pose at a max of 10 Hz -->  <param name="use_map_topic" value="true"/>  <param name="odom_model_type" value="omni"/>  <param name="odom_alpha5" value="0.1"/>  <param name="transform_tolerance" value="0.5" />  <param name="gui_publish_rate" value="10.0"/>  <param name="laser_max_beams" value="300"/>  <param name="min_particles" value="500"/>  <param name="max_particles" value="5000"/>  <param name="kld_err" value="0.1"/>  <param name="kld_z" value="0.99"/>  <param name="odom_alpha1" value="0.1"/>  <param name="odom_alpha2" value="0.1"/>  <!-- translation std dev, m -->  <param name="odom_alpha3" value="0.1"/>  <param name="odom_alpha4" value="0.1"/>  <param name="laser_z_hit" value="0.9"/>  <param name="laser_z_short" value="0.05"/>  <param name="laser_z_max" value="0.05"/>  <param name="laser_z_rand" value="0.5"/>  <param name="laser_sigma_hit" value="0.2"/>  <param name="laser_lambda_short" value="0.1"/>  <param name="laser_lambda_short" value="0.1"/>  <param name="laser_model_type" value="likelihood_field"/>  <!-- <param name="laser_model_type" value="beam"/> -->  <param name="laser_min_range" value="1"/>  <param name="laser_max_range" value="5"/>  <param name="laser_likelihood_max_dist" value="2.0"/>  <param name="update_min_d" value="0.2"/>  <param name="update_min_a" value="0.5"/>  <param name="resample_interval" value="1"/>  <param name="transform_tolerance" value="0.1"/>  <param name="recovery_alpha_slow" value="0.0"/>  <param name="recovery_alpha_fast" value="0.0"/>  </node>  <!-- move_base node -->  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">    <rosparam file="$(find diego_nav)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />    <rosparam file="$(find diego_nav)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />    <rosparam file="$(find diego_nav)/config/local_costmap_params.yaml" command="load" />    <rosparam file="$(find diego_nav)/config/global_costmap_params.yaml" command="load" />    <rosparam file="$(find diego_nav)/config/base_local_planner_params.yaml" command="load" />  </node></launch>

遇到一个比较奇怪的问题，OpenNI放在此launch文件中一起启动时，不知道为什么会有xtion启动不起来的情况，但单独启动openni却可以启动。所以可以把此文件中启动openni的部分注释掉，分别在两个终端启动

roslaunch openni_launch openni.launch roslaunch diego_nav diego_run.launch

我的包名名称是diego_nav, launch文件名称是diego_run.launch

查看tf关系

rosrun tf view_frames

查看节点关系

rosrun rqt_graph rqt_graph

查看xtion的图像

rqt_image_view

启动rviz

rosrun rviz rviz