<launch><!-- declare arg to be passed in --><argname="hoge"/><!-- read value of arg --><paramname="param"value="$(arg hoge)"/></launch>
9.env标签
9.1 必选属性
属性
含义
name=“environment-variable-name”
所设置的环境变量的名字
value=“environment-variable-value”
参数说明
10.全局示例
<launch><!-- local machine already has a definition by default.
This tag overrides the default definition with
specific ROS_ROOT and ROS_PACKAGE_PATH values --><machinename="local_alt"address="localhost"default="true"ros-root="/u/user/ros/ros/"ros-package-path="/u/user/ros/ros-pkg"/><!-- a basic listener node --><nodename="listener-1"pkg="rospy_tutorials"type="listener"/><!-- pass args to the listener node --><nodename="listener-2"pkg="rospy_tutorials"type="listener"args="-foo arg2"/><!-- a respawn-able listener node --><nodename="listener-3"pkg="rospy_tutorials"type="listener"respawn="true"/><!-- start listener node in the 'wg1' namespace --><nodens="wg1"name="listener-wg1"pkg="rospy_tutorials"type="listener"respawn="true"/><!-- start a group of nodes in the 'wg2' namespace --><groupns="wg2"><!-- remap applies to all future statements in this scope. --><remapfrom="chatter"to="hello"/><nodepkg="rospy_tutorials"type="listener"name="listener"args="--test"respawn="true"/><nodepkg="rospy_tutorials"type="talker"name="talker"><!-- set a private parameter for the node --><paramname="talker_1_param"value="a value"/><!-- nodes can have their own remap args --><remapfrom="chatter"to="hello-1"/><!-- you can set environment variables for a node --><envname="ENV_EXAMPLE"value="some value"/></node></group></launch>