<launch>
<!--调用时参数,参数使用方式:address:=192.168.1.1-->
<arg name="address" default='0.0.0.0'/>
<arg name="port" default="9090" />
<arg name="map_file" default="~/map.yaml"/>
<!--启动其余launch文件(不带参数)-->
<include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch">
</include>
<!--启动其余launch文件(带参数)-->
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
<arg name="address" value="$(arg address)"/>
<arg name="port" value="$(arg port)"/>
</include>
<!--启动普通节点-->
<node name="publish_pose" pkg="publish_pose" type="publish_pose" output="screen"/>
</launch>
ros中launch文件模板
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