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[feat] complete it

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jieshoudaxue
2023-06-15 09:15:20 +08:00
parent 45b6f954f0
commit 7e2c0c1e64
4 changed files with 33 additions and 47 deletions
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learning_launch/launch/double_mimic_draw_cycle_square.launch
+8 -2
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@@ -1,6 +1,12 @@
<launch>
<include file="$(find learning_launch)/launch/turtlesim1.launch"/>
<include file="$(find learning_launch)/launch/turtlesim2.launch"/>
<group ns="turtlesim1">
<include file="$(find learning_launch)/launch/two_turtlesim.launch"/>
</group>
<group ns="turtlesim2">
<include file="$(find learning_launch)/launch/two_turtlesim.launch"/>
</group>
<node
pkg="rostopic" type="rostopic" name="rostopic" output="screen" required="true"
learning_launch/launch/turtlesim1.launch
-18
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@@ -1,18 +0,0 @@
<launch>
<group ns="turtlesim1">
<node pkg="turtlesim" type="turtlesim_node" name="sim_node1" respawn="true">
<remap from="turtle1" to="sim_node1"/>
</node>
<node pkg="turtlesim" type="turtlesim_node" name="sim_node2" respawn="true">
<remap from="turtle1" to="sim_node2"/>
</node>
<node pkg="turtlesim" name="mimic" type="mimic" output="screen" required="true" >
<remap from="input" to="sim_node1"/>
<remap from="output" to="sim_node2"/>
</node>
</group>
</launch>
learning_launch/launch/turtlesim2.launch
-26
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@@ -1,26 +0,0 @@
<launch>
<group ns="turtlesim2">
<param name="turtle_number" value="2"/>
<arg name="TurtlesimName1" default="Tom"/>
<arg name="TurtlesimName2" default="Jerry"/>
<node pkg="turtlesim" type="turtlesim_node" name="sim_node1" respawn="true">
<remap from="turtle1" to="sim_node1"/>
<param name="turtle_name" value="$(arg TurtlesimName1)"/>
</node>
<node pkg="turtlesim" type="turtlesim_node" name="sim_node2" respawn="true">
<remap from="turtle1" to="sim_node2"/>
<param name="turtle_name" value="$(arg TurtlesimName2)"/>
</node>
<node pkg="turtlesim" name="mimic" type="mimic" output="screen" required="true" >
<remap from="input" to="sim_node1"/>
<remap from="output" to="sim_node2"/>
</node>
</group>
</launch>
learning_launch/launch/two_turtlesim.launch
+24
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@@ -0,0 +1,24 @@
<launch>
<param name="turtle_number" value="2"/>
<arg name="TurtlesimName1" default="Tom"/>
<arg name="TurtlesimName2" default="Jerry"/>
<node pkg="turtlesim" type="turtlesim_node" name="sim_node1" respawn="true">
<remap from="turtle1" to="sim_node1"/>
<param name="turtle_name" value="$(arg TurtlesimName1)"/>
</node>
<node pkg="turtlesim" type="turtlesim_node" name="sim_node2" respawn="true">
<remap from="turtle1" to="sim_node2"/>
<param name="turtle_name" value="$(arg TurtlesimName2)"/>
</node>
<node pkg="turtlesim" name="mimic" type="mimic" output="screen" required="true" >
<remap from="input" to="sim_node1"/>
<remap from="output" to="sim_node2"/>
</node>
</launch>