ros2 launch_ros xacro arguments parameters LaunchConfiguration asked Mar 11 '21 destogl 867 4 31 25 https://www.stoglrobotics.de updated Mar 12 '21 Hi all, I am having a "fight" with launch-file argument in ROS2 for a few days already. You use ROS2 params in your nodes because that's a nice way to set parameters at run time, without having to modify (+recompile) the file containing the code for the node. The Construct is an e-learning platform for ROS and Robotics, helping engineers grow their robotics skills with a full-scale curriculum and hands-on courses. Save my name, email, and website in this browser for the next time I comment. 2023 The Construct Sim, S.L. (If you don't know how to use params in your code, check out this rclpy params tutorial and this rclcpp params tutorial .) Creating a launch file. The problem: we have a ROS2 C++ package but it has no launch file. Yes, we can run the code of this package using ros2 run, but we also want to be able to run it using ros2 launch Lets get to work right away and solve this problem! As a complete beginner? Open upCMakeLists.txtin the IDE and add the following lines at the bottom of it. Your email address will not be published. We are launching the C++ code in src/ros2_cpp_code.cpp, and the output should be something like this: Get the ROSject containing all code used in the post in the following link:http://www.rosject.io/l/bcf8985/. ros2 launch configuration asked Jun 12 '20 Tejas Kumar shastha 11 2 4 5 updated Jun 12 '20 I would like to pass command line arguments to my launch file when launching from terminal, and then pass this value as a command line argument to a lifecycle node brought up by this launch file. Do you have questions about what is explained? ROS2: How to pass arguments from one launch file to a child launch file Ask Question Asked 3 years, 9 months ago Modified 1 month ago Viewed 6k times 5 I have a main bringup.launch.py launch file of which the launch descriptor includes child.launch.py as a child launch file like this: The body of such a description is mainly . On the Shell, run: It is possible to launch a launch file directly (as we do above), or provided by a package. Run the ROS2 launch file Customize your nodes in ROS2 launch files Rename node Topic/Service remapping Parameters Conclusion Where to create your launch files? If you would like to learn how we created this ROSject and package, please see this post:https://www.theconstructsim.com/ros2-tutorials-create-a-ros2-package-cpp/. Youve been working very hard, time to eat the fruit of your labor! Well, technically you could create a launch file anywhere, in any package you want. Create a launch directory within the package and create a launch file within the directory. Introduction ROS2 launch files are a powerful tool for robotics applications. Please make sure that the environment does not mix paths from different distributions. Prefer to watch a video demonstrating the steps above? Launch ROS 2 Launch files allow you to start up and configure a number of executables containing ROS 2 nodes simultaneously. This might take a few moments, please be patient. This is the preferred approach for ROS 1 roslaunch launch files, thus some degree of familiarity is expected (and relied upon). Copy and paste the complete code into the launch/turtlesim_mimic_launch.py file: Learn how to create a launch file that will start up nodes and their configurations all at once. I can see the launch params with ros2 param, but I take it that those come from a service response. You learned about creating packages in Creating a package. ROS_DISTRO was set to 'melodic' before. launch file: <launch> <arg name="node_name" default="collector" /> <arg name="config_file" default="" /> <node name="$ (arg node_name)" pkg="collector" type="collector" respawn="true"> <rosparam if="$ (eval config_file!='')" command="load" file="$ (arg config_file)"/> </node> </launch> config file: my_param: 5 cpp code: In this post, you will learn how to publish and subscribe to a topic from a launch file. Instead of starting each process manually, they allow you to start multiple nodes with one command and add logic to your startup sequence. 1 Setup Create a new directory to store your launch files: mkdir launch 2 Write the launch file Let's put together a ROS 2 launch file using the turtlesim package and its executables. Did you like this post? user:~/ros2_ws$ Step 3: Create a ROS2 launch file for this package. Create a launch directory within the package and create a launch file within the directory. Fire up an IDE from the Tools menu, find the launch file just created and paste the following code into it: Now, we need to tell ROS to recognize the launch file. I guess I could always scrape all the nodes and their params with a custom utility and then republish them as parameter events or something, but I feel like there has to be a better . Remember we have a packageget a copy of the ROSject containing this package using this link:http://www.rosject.io/l/bce4ffd/. If you want to learn about other ROS topics, please let us know in the comments area and we will do a video/post about it . As mentioned above, this can either be in Python, XML, or YAML. I'm using a python based launch file if that makes a difference. Step 3: Create a ROS2 launch file for this package. Get a more advanced overview of how launch files work. document.getElementById( "ak_js_1" ).setAttribute( "value", ( new Date() ).getTime() ); This site uses Akismet to reduce spam. The scenario is the following: Set parameter when calling launch file. We use cookies to ensure that we give you the best experience on our website. If you continue to use this site we will assume that you are happy with it. https://www.theconstructsim.com/ros2-tutorials-create-a-ros2-package-cpp/, https://www.theconstructsim.com/construct-learn-develop-robots-using-ros/robotigniteacademy_learnros/ros-courses-library/ros2-basics-course/, How to Publish and Subscribe to a topic from a launch file. Once the ROSject opens, fire up a Shell from the Tools menu and run the following commands to recompile the package. You are learning ROS2. This tutorial will explain everything you need to know about ROS2 launch files. We have one for you below! The Construct is the official ROS training provider for. All rights reserved. As an alternative to a programmatic approach to the ROS 2 launch system's API, a declarative description features a WYSIWYG approach, easier to read, audit and maintain. In this post, you will learn how to create a ROS2 launch file. roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. Launching and monitoring multiple nodes. Whatever the case, please leave a comment on the comments section below, so we can interact and learn from each other. Open the ROSject. Learn how your comment data is processed. However we'll stick to a few rules here. The format for the command is ros2 launch . When it is provided by a package, the syntax is: ros2 launch <package_name> <launch_file_name>. , XML, or YAML in ROS2 launch files is expected ( and relied upon ) know about launch., how to create your launch files work curriculum and hands-on courses start up and configure a number of containing! A ROS2 launch file anywhere, in any package you want you continue to use this site we assume! 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