# launch_ros

**Repository Path**: src-openeuler/launch_ros

## Basic Information

- **Project Name**: launch_ros
- **Description**: Tools for launching ROS nodes and for writing tests involving ROS nodes.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 5
- **Created**: 2022-01-13
- **Last Updated**: 2025-03-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: sig-ROS

## README

# launch_ros

#### 介绍

launch_ros节点

用于启动ROS节点和编写涉及ROS节点的测试的工具。

#### 软件架构
软件架构说明

https://github.com/ros2/launch_ros.git

文件内容:
```
./
├── CONTRIBUTING.md
├── launch_ros
│   ├── CHANGELOG.rst
│   ├── examples
│   │   ├── lifecycle_pub_sub_launch.py
│   │   └── pub_sub_launch.py
│   ├── launch_ros
│   │   ├── actions
│   │   ├── descriptions
│   │   ├── event_handlers
│   │   ├── events
│   │   ├── __init__.py
│   │   ├── parameter_descriptions.py
│   │   ├── parameters_type.py
│   │   ├── remap_rule_type.py
│   │   ├── ros_adapters.py
│   │   ├── substitutions
│   │   └── utilities
│   ├── package.xml
│   ├── resource
│   │   └── launch_ros
│   ├── setup.py
│   └── test
│       ├── test_copyright.py
│       ├── test_flake8.py
│       └── test_pep257.py
├── launch_testing_ros
│   ├── CHANGELOG.rst
│   ├── launch_testing_ros
│   │   ├── data_republisher.py
│   │   ├── __init__.py
│   │   ├── message_pump.py
│   │   ├── pytest
│   │   ├── test_runner.py
│   │   └── tools
│   ├── package.xml
│   ├── pytest.ini
│   ├── README.md
│   ├── resource
│   │   └── launch_testing_ros
│   ├── setup.cfg
│   ├── setup.py
│   └── test
│       ├── examples
│       ├── test_copyright.py
│       ├── test_flake8.py
│       └── test_pep257.py
├── LICENSE
├── ros2launch
│   ├── CHANGELOG.rst
│   ├── examples
│   │   ├── example.launch.py
│   │   └── includes_example.launch.py
│   ├── package.xml
│   ├── resource
│   │   └── ros2launch
│   ├── ros2launch
│   │   ├── api
│   │   ├── command
│   │   └── __init__.py
│   ├── setup.py
│   └── test
│       ├── test_copyright.py
│       ├── test_flake8.py
│       └── test_pep257.py
└── test_launch_ros
    ├── CHANGELOG.rst
    ├── package.xml
    ├── setup.py
    └── test
        ├── test_copyright.py
        ├── test_flake8.py
        ├── test_launch_ros
        └── test_pep257.py
```

#### 安装教程

1. 下载rpm包

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/launch_ros/ros2-foxy-ros2-launch_ros-0.11.7-1.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/launch_ros/ros2-foxy-ros2-launch_ros-0.11.7-1.oe2203.x86_64.rpm
```

2. 安装rpm包

aarch64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-launch-0.11.7-1.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-launch-0.11.7-1.oe2203.x86_64.rpm
```

#### 使用说明

依赖环境安装:

```
sh /opt/ros/foxy/install_dependence.sh
```

安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。

输出:

```
./
├── bin
│   ├── launch_test
│   └── uncrustify
├── COLCON_IGNORE
├── include
│   ├── ament_index_cpp
│   ├── benchmark
│   ├── mimick
│   ├── osrf_testing_tools_cpp
│   └── performance_test_fixture
├── install_dependence.sh
├── lib
│   ├── cmake
│   ├── launch_testing
│   ├── libament_index_cpp.so
│   ├── libmemory_tools_interpose.so
│   ├── libmemory_tools.so
│   ├── libperformance_test_fixture.so
│   ├── osrf_testing_tools_cpp
│   └── python3.9
├── lib64
│   ├── cmake
│   ├── libbenchmark_main.so -> libbenchmark_main.so.1
│   ├── libbenchmark_main.so.1 -> libbenchmark_main.so.1.5.2
│   ├── libbenchmark_main.so.1.5.2
│   ├── libbenchmark.so -> libbenchmark.so.1
│   ├── libbenchmark.so.1 -> libbenchmark.so.1.5.2
│   ├── libbenchmark.so.1.5.2
│   ├── libmimick.a
│   └── pkgconfig
├── local_setup.bash
├── local_setup.ps1
├── local_setup.sh
├── _local_setup_util_ps1.py
├── _local_setup_util_sh.py
├── local_setup.zsh
├── setup.bash
├── setup.ps1
├── setup.sh
├── setup.zsh
├── share
│   ├── launch
│   ├── launch_ros
│   ├── launch_testing
│   ├── launch_testing_ament_cmake
│   ├── launch_testing_ros
│   ├── launch_xml
│   ├── launch_yaml
│   ├── mimick_vendor
│   ├── osrf_pycommon
│   ├── osrf_testing_tools_cpp
│   ├── performance_test_fixture
│   ├── python_cmake_module
│   ├── ros2launch
│   ├── test_launch_ros
│   ├── test_launch_testing
│   ├── test_osrf_testing_tools_cpp
│   └── uncrustify_vendor
└── src
    ├── gmock_vendor
    └── gtest_vendor
```

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request


#### 特技

1.  使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
2.  Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
3.  你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
4.  [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)