Using rqt_console and roslaunch

Description: This tutorial introduces ROS using rqt_console and rqt_logger_level for debugging and roslaunch for starting many nodes at once

debug工具

• rqt_console
• rqt_logger_level

rosrun rqt_console rqt_console  #界面化的实时的日志监控
rosrun rqt_logger_level rqt_logger_level #界面化的用于设置日志级别 

支持的日志级别
Fatal
Error
Warn
Info
Debug

roslaunch

echo $ROS_PACKAGE_PATH

<launch>   --标明这是一个launch file

  <group ns="turtlesim1">     --不同的namespace  允许有起2个同样name的node
    <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">   --起一个mimic node.
    <remap from="input" to="turtlesim1/turtle1"/>   --This renaming will cause turtlesim2 to mimic turtlesim1
    <remap from="output" to="turtlesim2/turtle1"/>
  </node>

</launch>

读取turtlemimic.launch文件启动node
roslaunch beginner_tutorials turtlemimic.launch

rqt或rqt_graph查看roslaunch实际做了什么