rqt和turtlesim包的先决条件

前边我们已经都安装过了

使用rqt_console和rqt_logger_level

rosrun rqt_console rqt_console
rosrun rqt_logger_level rqt_logger_level

使用roslaunch

roslaunch启动在启动文件中的所有节点

$ roslaunch [package] [filename.launch]

1. 首先我们进入beginner_turtorials

roscd beginner_tutorials

记得source 环境

2. 启动文件
   编辑启动文件，文件名：turtlemimic.launch

<launch>

  <group ns="turtlesim1">
    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
  </group>

  <group ns="turtlesim2">
    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
  </group>

  <node pkg="turtlesim" name="mimic" type="mimic">
    <remap from="input" to="turtlesim1/turtle1"/>
    <remap from="output" to="turtlesim2/turtle1"/>
  </node>

</launch>

3. roslaunching
   运行配置文件

roslaunch beginner_tutorials turtlemimic.launch