ros2 launch的yml和xml写法

yml写法:

launch:
    - node:
        pkg: "pub_app"
        exec: "publisher"
        name: "pub_app"
        namespace: "desertrescue"
    - node:
        pkg: "sub_app"
        exec: "minimal_subscriber"
        name: "minimal_subscriber"
        namespace: "desertrescue"

直接ros2 launch /pathto/yml

xml写法：

<launch>
  <node pkg="pub_app" exec="publisher" name="pub_app" output="screen">
  </node>
</launch>

还可以直接指定参数文件：

<launch>
  <node pkg="my_package" exec="my_node" name="my_node_name" output="screen">
    <param from="path/to/params.yaml"/>
  </node>
</launch>

或：

<launch>
  <node pkg="my_package" exec="my_node" name="my_node" output="screen">
    <param from="$(find my_package)/config/params.yaml"/>
  </node>
</launch>

但xml写法需要将xml文件通过cmake或人工拷贝到ros2 install对应的节点路径的share目录下，否则会报错

拷贝之后直接ros2 launch pkg xxx.xml即可，tab会弹出可选xml