CODEWITHSUNDEEP
ros
d0ppL3G
d0ppL3G

Reputation: 119

Creating a roslaunch file that includes nodes from several packages

In my Ros Workspace (ws), there are 3 packages in src folder. And in each package, there is a node (contained in scripts folder) which is written using python. I need to write a roslaunch file that runs all 3 nodes at once.

Folder structure

ws
  -src
    -pkg1
       -scripts/node1.py
    -pkg2
       -scripts/node2.py
    -pkg3
       -scripts/node3.py
  -launch *#I want to keep the launch file in here.*

Can someone help me or point me out on how to write the launch file combining multiple packages?

Upvotes: 0

Views: 1848

Answers (2)

Andi R
Andi R

Reputation: 164

I think this could work for you. (assuming you are not using ROS2)

<?xml version="1.0"?>
<launch>
    <node pkg="pkg1" type="node1.py" name="node1">
    </node>
    <node pkg="pkg2" type="node2.py" name="node2">
    </node>
    <node pkg="pkg3" type="node3.py" name="node3">
    </node>
</launch>

If I remember correctly, the launch file can start any node, independent of packages. I usually create an additional package (and name it for example startup) and use it simply for my launch files.
This reference should have everything documented that you need. You'll find the details to launch a node here.

Upvotes: 1

BTables
BTables

Reputation: 4803

Roslaunch makes this fairly easy as it includes a tag for what package to launch a node from. Take the following example:

<launch>
    <node pkg="pkg1" type="node1.py" name="node1">
        <param name="some_param1" value="value1">
    </node>
    <node pkg="pkg2" type="node2.py" name="node2">
        <param name="some_param2" value="value2">
    </node>
</launch>

Upvotes: 1

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