1 Introduction

1.1 Startup file type

• Python files
• XML files
• YAML files

2 Python startup

2.1 Start command

ros2 launch <pkg_name> xxx_launch.py

2.2 Node parameters

package="pkg_name",                        # package name
executable="exec_name",                    # executable
name="node_name",                        # node name
output="screen"                            # Make sure to output
emulate_tty=True,                        # Make sure to output
parameters=[                            # parameter dictionary list
    {"my_parameter": "earth"}
]
node_executable
namespace                    # Namespace
node_name：
node_namespace
exec_name

remappings                    # Remap Find the file

#through the os module
import os
from ament_index_python.packages import get_package_share_directory

para_dir = os.path.join(get_package_share_directory(“pkg_name”), “…”)