demo17

demo17

对节点进行重命名

1. rosrun
2. launch 文件
3. 编码时规定

想要一次启动两个 turtlesim_node 节点。

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rosrun

方法一：使用rosrun

	$ rosrun turtlesim turtlesim_node __ns:=zhang3
	$ rosrun turtlesim turtlesim_node __ns:=wang5

	$ rosnode list
		/rosout
		/wang5/turtlesim
		/zhang3/turtlesim

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方法二：起别名

	$ rosrun turtlesim turtlesim_node __name:=li4
	$ rosrun turtlesim turtlesim_node __name:=zhao6

	$ rosnode list
		/li4
		/rosout
		/zhao6

方法三：叠加

	$ rosrun turtlesim turtlesim_node __ns:=ergouzi __name:=daqiang
	$ rosrun turtlesim turtlesim_node __ns:=maoluzi __name:=xiaoqiang	

	$ rosnode list
		/ergouzi/daqiang
		/maoluzi/xiaoqiang
		/rosout

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launch

方法一：名称重映射，修改name属性

<launch>
	<node pkg="turtlesim" type="turtlesim_node" name="tur_node" output="screen" />

	<node pkg="turtlesim" type="turtlesim_node" name="tur_node1" output="screen" />
</launch>

方法二：命名空间

<launch>
	<node pkg="turtlesim" type="turtlesim_node" name="tur_node" output="screen" ns="ergouzi"/>
</launch>

方法三：叠加

<launch>
	<node pkg="turtlesim" type="turtlesim_node" name="tur_node1" output="screen" ns="ergouzi"/>
</launch>

输出：

	$ rosnode list 
		/ergouzi/tur_node
		/ergouzi/tur_node1
		/rosout
		/tur_node
		/tur_node1

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