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([