roslaunch 사용하기

1. roslaunch [package] [filename.launch]

$ roscd beginner_tutorials
$ mkdir launch
$ cd launch

아래와 같은 turtlemimic.launch파일생성
   1 <launch>
   2 
   3   <group ns="turtlesim1">
   4     <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
   5   </group>
   6 
   7   <group ns="turtlesim2">
   8     <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
   9   </group>
  10 
  11   <node pkg="turtlesim" name="mimic" type="mimic">
  12     <remap from="input" to="turtlesim1/turtle1"/>
  13     <remap from="output" to="turtlesim2/turtle1"/>
  14   </node>
  15 
  16 </launch>

$ roslaunch beginner_tutorials turtlemimic.launch
$ rostopic pub /turtlesim1/turtle1/command_velocity turtlesim/Velocity -r 1 -- 2.0  -1.8