In previous sections, we created nodes and have been executing them in different shells. Imagine working with 20 nodes and the nightmare of executing each one in a shell! However, with the launch file, we can do it in the same shell by launching a configuration file with the extension .launch. The launch file is a useful feature in ROS for launching more than one node.
To learn about the ROS launch file, we will create a new folder in the chapter2_tutorials package, as follows:
$ roscd chapter2_tutorials/ $ mkdir launch $ cd launch $ vim chapter2.launch
Add the following code inside the chapter2.launch file:
<?xml version="1.0"?> <launch> <node name ="example1a" pkg="chapter2_tutorials" type="example1a" ...