<> <> [[http://fkie.github.io/multimaster_fkie/default_cfg.html|Default Configuration Manual on GitHub]] == Overview == The `default_cfg` node offers a list of nodes, which can be started by calling a service with name of the node. Thus the needed nodes can be launched on demand without knowing the details of the configuration to run those. To configure the list with nodes a ROS launch file is used. == Additional node description == While loading a launch file by the `default_cfg` some addtional parameters are parsed to obtain a description of robots, nodes and capabilities configured by the launch file. This description is used in [[http://www.ros.org/wiki/node_manager_fkie#capabilities|Node manager]] to show additional information for nodes. The [[http://www.ros.org/wiki/node_manager_fkie#capabilities|detailed description]] shows the usage of additional description. == Usage == === Getting started === Although the node is written in Python we need to generate message and service types: {{{{#!wiki version electric fuerte {{{ rosmake default_cfg_fkie }}} }}}} {{{{#!wiki version groovy hydro indigo {{{ catkin_make }}} }}}} Run the node: {{{ rosrun default_cfg_fkie default_cfg _package:=@PACKAGE_NAME@ _launch_file:=@FILE_NAME@ }}} You can run the node without parameter and use the `~load` service to load a launch configuration. === Interface === {{{{#!wiki version electric fuerte {{{ #!clearsilver CS/NodeAPI srv { 0.name = ~list_nodes 0.type = default_cfg_fkie/ListNodes 0.desc = The list with all managed nodes. 1.name = ~run 1.type = default_cfg_fkie/Task 1.desc = Runs the node with given name. 2.name = ~description 2.type = default_cfg_fkie/ListDescription 2.desc = Returns the description extracted from the launch file. } }}} }}}} {{{{#!wiki version groovy hydro indigo {{{ #!clearsilver CS/NodeAPI srv { 0.name = ~list_nodes 0.type = multimaster_msgs_fkie/ListNodes 0.desc = The list with all managed nodes. 1.name = ~run 1.type = multimaster_msgs_fkie/Task 1.desc = Runs the node with given name. 2.name = ~description 2.type = multimaster_msgs_fkie/ListDescription 2.desc = Returns the description extracted from the launch file. 3.name = ~reload 3.type = std_srvs/Empty 3.desc = Reloads the current configuration. } }}} }}}} {{{ #!clearsilver CS/NodeAPI param { 0.name = ~package 0.type = String 0.desc = The package name containing the launch file. 0.default = `''` 1.name = ~launch_file 1.type = String 1.desc = The launch file to load. 1.default = `''` 2.name = ~argv 2.type = list 2.desc = A list with command-line arguments required to load a launch file. See [[http://ros.org/doc/electric/api/roslaunch/html/|XmlLoader.load() (roslaunch API)]] 2.default = `[str]` } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage