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update demo_3_launch

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This commit is contained in:
Robot 2023-10-03 19:09:28 +08:00
parent d1771c94e8
commit 7785774460
3 changed files with 26 additions and 7 deletions
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17
demo_launch/3_pub_sub.launch.py
View File

@ -2,19 +2,22 @@ from launch_ros.actions import Node
from launch import LaunchDescription
def generate_launch_description():
publisher_cmd = Node(
package='wpr_simulation2',
executable='3_publisher_node',
name='publisher_node'
package='topic_pkg',
executable='publisher_node',
name='publisher_node'
)
subscriber_cmd = Node(
package='wpr_simulation2',
executable='3_subscriber_node',
name='subscriber_node'
package='topic_pkg',
executable='subscriber_node',
name='subscriber_node'
)
ld = LaunchDescription()
ld.add_action(publisher_cmd)
ld.add_action(subscriber_cmd)
return ld

7
demo_launch/3_pub_sub.launch.xml Normal file
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@ -0,0 +1,7 @@
<launch>
<node pkg = "topic_pkg" exec = "publisher_node" name = "publisher_node" />
<node pkg = "topic_pkg" exec = "subscriber_node" name = "subscriber_node" />
</launch>

9
demo_launch/3_pub_sub.launch.yaml Normal file
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@ -0,0 +1,9 @@
launch:
- node:
pkg: "topic_pkg"
exec: "publisher_node"
name: "publisher_node"
- node:
pkg: "topic_pkg"
exec: "subscriber_node"
name: "subscriber_node"