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ros源码对应的github 网址为https://github.com/ros我们知道在ros 安装好后，首先要跑一下roscore命令，如果没有在这个命令的话，可能先调用source xx/ros/xx/setup.bash 初始化环境。roscore其实是一个python脚本，其实现的路径在ros/ros_comm/blob/melodic-devel/tools/roslaunch/scripts/roscore其源码如下：import sysfrom optparse import OptionParserfrom rosmaster.master_api import NUM_WORKERSNAME = 'roscore'def _get_optparse():    parser = OptionParser(usage="usage: %prog [options]",                          prog=NAME,                          description="roscore will start up a ROS Master, a ROS Parameter Server and a rosout logging node",                          epilog="See http://wiki.ros.org/roscore"                          )    parser.add_option("-p", "--port",                      dest="port", default=None,                      help="master port. Only valid if master is launched", metavar="PORT")    parser.add_option("-v", action="store_true",                      dest="verbose", default=False,                      help="verbose printing")    parser.add_option("-w", "--numworkers",                      dest="num_workers", default=NUM_WORKERS, type=int,                      help="override number of worker threads", metavar="NUM_WORKERS")    parser.add_option("-t", "--timeout",                      dest="timeout",                      help="override the socket connection timeout (in seconds).", metavar="TIMEOUT")    parser.add_option("--master-logger-level",                      dest="master_logger_level", default=False, type=str,                      help="set rosmaster.master logger level ('debug', 'info', 'warn', 'error', 'fatal')")    return parserparser = _get_optparse()(options, args) = parser.parse_args(sys.argv[1:])#从这里知道roscore 并不支持参数if len(args) > 0:    parser.error("roscore does not take arguments")#原来roscore就只是调用调用roslanch.mainimport roslaunchroslaunch.main(['roscore', '--core'] + sys.argv[1:])通过后续可以知道roslaunch.main 其实主要做了几件事，1，创建保存log的文件夹。2，启动roslunch server3，启动roscores master和resout

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