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Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Author: Ken Conley/kwc@willowgarage.com
- License: BSD
- Repository: ros
- Source: svn https://code.ros.org/svn/ros/stacks/ros_comm/tags/ros_comm-1.4.8
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Author: Ken Conley/kwc@willowgarage.com
- License: BSD
- Source: git https://github.com/ros/ros_comm.git (branch: ros_comm-1.6)
Package Summary
- Author: unknown
- License: unknown
- Source: git https://github.com/ros/ros_comm.git (branch: fuerte-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Ken Conley
- License: BSD
- Source: git https://github.com/ros/ros_comm.git (branch: groovy-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Ken Conley
- License: BSD
- Source: git https://github.com/ros/ros_comm.git (branch: hydro-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Ken Conley
- License: BSD
- Source: git https://github.com/ros/ros_comm.git (branch: indigo-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Ken Conley
- License: BSD
- Source: git https://github.com/ros/ros_comm.git (branch: indigo-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Jacob Perron <jacob AT openrobotics DOT org>, Michael Carroll <michael AT openrobotics DOT org>, Shane Loretz <sloretz AT openrobotics DOT org>
- Author: Ken Conley, Dirk Thomas <dthomas AT osrfoundation DOT org>
- License: BSD
- Source: git https://github.com/ros/ros_comm.git (branch: kinetic-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Ken Conley
- License: BSD
- Source: git https://github.com/ros/ros_comm.git (branch: lunar-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Jacob Perron <jacob AT openrobotics DOT org>, Michael Carroll <michael AT openrobotics DOT org>, Shane Loretz <sloretz AT openrobotics DOT org>
- Author: Ken Conley, Dirk Thomas <dthomas AT osrfoundation DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_comm/issues
- Source: git https://github.com/ros/ros_comm.git (branch: melodic-devel)
Package Summary
roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server. It includes options to automatically respawn processes that have already died. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on.
- Maintainer status: maintained
- Maintainer: Michael Carroll <michael AT openrobotics DOT org>, Shane Loretz <sloretz AT openrobotics DOT org>
- Author: Ken Conley, Dirk Thomas <dthomas AT osrfoundation DOT org>, Jacob Perron <jacob AT openrobotics DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_comm/issues
- Source: git https://github.com/ros/ros_comm.git (branch: noetic-devel)
Contents
Generalidades
Los paquetes roslaunch contienen las herramientas roslaunch, que leen el roslaunch.launch/formato XML, comos así también una variedad de otras herramientas de soporte para ayudarlo a usar estos archivos.
Muchos paquetes ROS vienen con "launch files" (archivos de inicio), que puede ejecutar mediante:
$ roslaunch package_name file.launch
Estos archivos suelen mostrar un conjunto de nodos para el paquete que proporciona alguna funcionalidad agregada.
Para obtener más información sobre la herramienta principal roslaunch y otras herramientas de línea de comandos, consulte:
roslaunch usa archivos XML que describen los nodos que deben ejecutarse, los parámetros que deben establecerse y otros atributos para lanzar una colección de ROS nodes. Para obtener una especificación de este formato XML, consulte:
roslaunch fue diseñado para adaptarse a la arquitectura ROS de complejidad a través de la composición. Comprender la arquitectura de roslaunch le dará una mejor idea de cómo construir sus archivos .launch y depurar mejor los lanzamientos remotos frente a los locales.
Puede encontrar un ejemplo de uso simple de la API de Python aquí:
roscore
roscore es una especialización de la herramienta roslaunch para abrir el sistema ROS" central ". Un roslaunch iniciará automáticamente roscore si detecta que aún no se está ejecutando (a menos que se proporcione el argumento --wait). Para obtener más información, consulte la documentación de roscore. Nota: debido a una race condition, roslaunch no debe usarse para garantizar una instancia singleton de roscore.
Estabilidad / Hoja de ruta
La sintaxis de los archivos launch (archivo de inicio) en sí es estable, y se hará todo lo posible para proporcionar compatibilidad con versiones anteriores con nuevas funciones.
El código API de roslaunch es muy inestable y no debe usarse directamente. Para admitir las nuevas funciones que se están planificando, es posible que sea necesario realizar cambios importantes e incompatibles en la API programática.
Se están planificando muchas características nuevas para roslaunch. Estos incluyen nuevas características dentro de la sintaxis del archivo de inicio, herramientas GUI para interactuar con los archivos de inicio de manera más efectiva, API de red, mejor coordinación entre archivos de inicio separados y más.
Ref. SIG for roslaunch
Tutoriales
- Roslaunch tips for large projects
This tutorial describes some tips for writing roslaunch files for large projects. The focus is on how to structure launch files so they may be reused as much as possible in different situations. We'll use the 2dnav_pr2 package as a case study.
- How to Roslaunch Nodes in Valgrind or GDB
When debugging roscpp nodes that you are launching with roslaunch, you may wish to launch the node in a debugging program like gdb or valgrind instead. Doing this is very simple.
- How to profile roslaunch nodes
This tutorial explains how to use profiling tools for roscpp nodes that you are launching with roslaunch.
Syntax Highlighting
Dado que roslaunch XML permite el análisis YAML en línea, es beneficioso tener compatibilidad con la sintaxis (resaltado y sangría) en su editor favorito.
Catkin
La macro de CMake roslaunch_add_file_check se puede utilizar para comprobar los archivos de inicio en busca de errores comunes, como argumentos, dependencias, paquetes o nodos faltantes.
A continuación se muestra cómo comprobar todos los archivos *.launch en el directorio "launch" de un paquete:
find_package(catkin REQUIRED COMPONENTS roslaunch) roslaunch_add_file_check(launch)
NOTA: roslaunch_add_file_check toma solo un directorio a la vez.
La comprobación se ejecuta durantetests. Entonces, algo como lo siguiente es más limpio.
if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) roslaunch_add_file_check(launch) endif()
Ya que necesita encontrar roslaunch en find_package como arriba, es mejor que agregue explícitamente una dependencia en su package.xml de la siguiente manera:
<build_depend>roslaunch</build_depend>
La macro acepta un solo directorio o argumento de archivo. Básicamente, agrega objetivos de prueba adicionales en Makefile generado por catkin.
Nota: these *.launch file tests can also be initiated using console tool called roslaunch-check OR roslaunch-deps.
Options for check during Catkin
New in K Turtle
Pass an optional argument "USE_TEST_DEPENDENCIES" to roslaunch_add_file_check as the following example, if your package defines dependency for the tests (e.g. test_depend). This avoids issues that happen during tests such as this issue.
find_package(catkin REQUIRED COMPONENTS roslaunch) roslaunch_add_file_check(launch USE_TEST_DEPENDENCIES)
GUI
A few graphical tools are available to support launch functionalities of ROS.
rqt_launch (very experimental) can run launch files.
rqt_launchtree allows you to interactively introspect launch files.
roslaunch_to_dot converts a launch file tree to a graph and save into a dot file.
