【ROS2】launch启动文件：基础
1、准备工作
ubuntu22.04系统对应ROS2版本为Humble
1）安装小乌龟
sudo apt install ros-humble-turtlesim
2）安装可视化工具rqt
sudo apt install ros-humble-rqt
sudo apt install ros-humble-rqt-graph
2、创建launch文件
1）创建单独存放launch的目录
mkdir ~/ros/launch_ws
cd ~/ros/launch_ws
2）编辑launch文件内容
vim turtlesim_test.launch.py
内容如下：
from launch import LaunchDescription
from launch_ros.actions import Nodedef generate_launch_description():return LaunchDescription([