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ROSLAUNCH

Syntax

<node pkg=<package name> type=<node name> name=<node visible name> output=<type> />

Sample launch file

<launch>
    <node pkg="session3_pubsub" type="publisher" name="publisher_1" output="screen" />
    <node pkg="session3_pubsub" type="publisher" name="publisher_2" output="screen" />
    <node pkg="session3_pubsub" type="subscriber" name="subscriber" output="screen" />
</launch>

Use

Open a terminal and run,

source devel/setup.bash
roslaunch session3_pubsub test.launch