ros中launch文件模板

<launch>
  <!--调用时参数，参数使用方式：address:=192.168.1.1-->
  <arg name="address" default='0.0.0.0'/>
  <arg name="port" default="9090" />
  <arg name="map_file" default="~/map.yaml"/>
  
  <!--启动其余launch文件(不带参数)-->
  <include file="$(find turtlebot3_bringup)/launch/turtlebot3_robot.launch">
  </include>

  <!--启动其余launch文件(带参数)-->
  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
    <arg name="address" value="$(arg address)"/>
    <arg name="port" value="$(arg port)"/>
  </include>
  
  <!--启动普通节点-->
  <node name="publish_pose" pkg="publish_pose" type="publish_pose" output="screen"/>
</launch>