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## title = Rocon Launch
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## description = Script for launching multiple ros systems on one pc, very useful for debugging the concerts.
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== Overview ==

To properly debug the [[rocon_gateway|gateway model]] or the [[rocon_concert|concert]] it gets tedious starting multiple shells, setting the port number for each master and individually launching each bringup launch script. 

This tool does that job for you in the same style as roslaunch. 

== Xml ==

It has a very similar feel to a regular roslaunch file and should be self-explanatory. A simple example from [turtle_concert]:

{{{#!highlight xml
<concert>
  <launch package="turtle_concert" name="concert.launch" port="11311"/>
  <launch package="turtle_concert" name="kobuki.launch" port="11312"/>
  <launch package="turtle_concert" name="guimul.launch" port="11313"/>
  <launch package="turtle_concert" name="turtlesim.launch" port="11314"/>
</concert>
}}}


== Usage ==

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
}}}

=== Terminals ===

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.

=== Tab Completion ===

Multiple launchers may use the same port. If the file suffix is `.concert`, then tab completion will also work just like roslaunch.

=== Screen Verbosity ===

The tool also accepts the `--screen` argument and behaves the same way as the option for `roslaunch`. 

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