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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 a terminal for each launch in the rocon launch xml file. The type of terminal is autodetected, but can be forced to gnome-terminal or konsole with the --gnome or --konsole options.
Multiple launchers may use the same port. If the file suffix is .concert, then tab completion will also work just like roslaunch.
The tool also accepts the --screen argument and behaves the same way as the option for roslaunch.