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Rocon LaunchDescription: Script for launching multiple ros systems on one pc, very useful for debugging the concerts.
Keywords: rocon launcher
Tutorial Level: INTERMEDIATE
This tool does that job for you in the same style as roslaunch.
It has a very similar feel to a regular roslaunch file and should be self-explanatory. A simple example from [turtle_concert]:
1 <concert> 2 <launch package="turtle_concert" name="concert.launch" port="11311"/> 3 <launch package="turtle_concert" name="kobuki.launch" port="11312"/> 4 <launch package="turtle_concert" name="guimul.launch" port="11313"/> 5 <launch package="turtle_concert" name="turtlesim.launch" port="11314"/> 6 </concert>
It uses the familiar roslaunch <pkg_name> <launch file name> arguments, except that the .launch file is replaced with a .concert file of the format specified above.
> rocon_launch turtle_concert turtle.concert
The script launches, by default, konsole terminals inside of which each shell is individually started, configured and finally roslauncher launched. It can be changed to use gnome terminals instead of konsoles by supplying the --gnome option.