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Include xml and yaml launch files in examples (ros2#3382)
* Include xml and yaml launch files in examples Add examples on including XML and YAML files in Python/XML/YAML launch files Related to ros2#3369 Signed-off-by: Damien LaRocque <[email protected]>
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‎source/How-To-Guides/Launch-file-different-formats.rst‎

Lines changed: 140 additions & 65 deletions
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@@ -39,13 +39,15 @@ Each launch file performs the following actions:
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import IncludeLaunchDescription
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from launch.actions import GroupAction
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import TextSubstitution
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from launch_ros.actions import Node
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from launch_ros.actions import PushROSNamespace
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from launch_ros.actions import PushRosNamespace
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from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
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from launch_yaml.launch_description_sources import YAMLLaunchDescriptionSource
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def generate_launch_description():
@@ -60,8 +62,14 @@ Each launch file performs the following actions:
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background_b_launch_arg = DeclareLaunchArgument(
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"background_b", default_value=TextSubstitution(text="0")
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)
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chatter_ns_launch_arg = DeclareLaunchArgument(
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"chatter_ns", default_value=TextSubstitution(text="my/chatter/ns")
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chatter_py_ns_launch_arg = DeclareLaunchArgument(
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"chatter_py_ns", default_value=TextSubstitution(text="chatter/py/ns")
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)
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chatter_xml_ns_launch_arg = DeclareLaunchArgument(
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"chatter_xml_ns", default_value=TextSubstitution(text="chatter/xml/ns")
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)
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chatter_yaml_ns_launch_arg = DeclareLaunchArgument(
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"chatter_yaml_ns", default_value=TextSubstitution(text="chatter/yaml/ns")
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)
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# include another launch file
@@ -71,11 +79,11 @@ Each launch file performs the following actions:
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get_package_share_directory('demo_nodes_cpp'),
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'launch/topics/talker_listener_launch.py'))
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)
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# include another launch file in the chatter_ns namespace
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launch_include_with_namespace = GroupAction(
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# include a Python launch file in the chatter_py_ns namespace
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launch_py_include_with_namespace = GroupAction(
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actions=[
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# push_ros_namespace to set namespace of included nodes
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PushROSNamespace('chatter_ns'),
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PushRosNamespace('chatter_py_ns'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
@@ -85,51 +93,84 @@ Each launch file performs the following actions:
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]
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)
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# include a xml launch file in the chatter_xml_ns namespace
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launch_xml_include_with_namespace = GroupAction(
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actions=[
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# push_ros_namespace to set namespace of included nodes
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PushRosNamespace('chatter_xml_ns'),
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IncludeLaunchDescription(
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XMLLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('demo_nodes_cpp'),
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'launch/topics/talker_listener_launch.xml'))
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),
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]
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)
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# include a yaml launch file in the chatter_yaml_ns namespace
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launch_yaml_include_with_namespace = GroupAction(
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actions=[
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# push_ros_namespace to set namespace of included nodes
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PushRosNamespace('chatter_yaml_ns'),
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IncludeLaunchDescription(
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YAMLLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('demo_nodes_cpp'),
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'launch/topics/talker_listener_launch.yaml'))
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),
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]
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)
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# start a turtlesim_node in the turtlesim1 namespace
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turtlesim_node = Node(
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package='turtlesim',
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namespace='turtlesim1',
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executable='turtlesim_node',
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name='sim'
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)
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package='turtlesim',
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namespace='turtlesim1',
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executable='turtlesim_node',
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name='sim'
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)
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# start another turtlesim_node in the turtlesim2 namespace
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# and use args to set parameters
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turtlesim_node_with_parameters = Node(
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package='turtlesim',
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namespace='turtlesim2',
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executable='turtlesim_node',
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name='sim',
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parameters=[{
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"background_r": LaunchConfiguration('background_r'),
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"background_g": LaunchConfiguration('background_g'),
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"background_b": LaunchConfiguration('background_b'),
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}]
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)
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package='turtlesim',
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namespace='turtlesim2',
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executable='turtlesim_node',
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name='sim',
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parameters=[{
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"background_r": LaunchConfiguration('background_r'),
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"background_g": LaunchConfiguration('background_g'),
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"background_b": LaunchConfiguration('background_b'),
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}]
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)
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# perform remap so both turtles listen to the same command topic
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forward_turtlesim_commands_to_second_turtlesim_node = Node(
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package='turtlesim',
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executable='mimic',
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name='mimic',
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remappings=[
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('/input/pose', '/turtlesim1/turtle1/pose'),
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('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
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]
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)
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package='turtlesim',
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executable='mimic',
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name='mimic',
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remappings=[
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('/input/pose', '/turtlesim1/turtle1/pose'),
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('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
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]
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)
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return LaunchDescription([
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background_r_launch_arg,
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background_g_launch_arg,
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background_b_launch_arg,
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chatter_ns_launch_arg,
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chatter_py_ns_launch_arg,
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chatter_xml_ns_launch_arg,
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chatter_yaml_ns_launch_arg,
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launch_include,
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launch_include_with_namespace,
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launch_py_include_with_namespace,
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launch_xml_include_with_namespace,
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launch_yaml_include_with_namespace,
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turtlesim_node,
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turtlesim_node_with_parameters,
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forward_turtlesim_commands_to_second_turtlesim_node,
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])
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.. group-tab:: XML
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.. code-block:: xml
@@ -138,35 +179,49 @@ Each launch file performs the following actions:
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<launch>
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<!-- args that can be set from the command line or a default will be used -->
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<arg name="background_r" default="0"/>
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<arg name="background_g" default="255"/>
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<arg name="background_b" default="0"/>
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<arg name="chatter_ns" default="my/chatter/ns"/>
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<!-- include another launch file -->
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"/>
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<!-- include another launch file in the chatter_ns namespace-->
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<group>
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<!-- push_ros_namespace to set namespace of included nodes -->
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<push_ros_namespace namespace="$(var chatter_ns)"/>
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"/>
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</group>
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<!-- start a turtlesim_node in the turtlesim1 namespace -->
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<node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim1"/>
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<!-- start another turtlesim_node in the turtlesim2 namespace
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and use args to set parameters -->
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<node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim2">
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<param name="background_r" value="$(var background_r)"/>
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<param name="background_g" value="$(var background_g)"/>
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<param name="background_b" value="$(var background_b)"/>
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</node>
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<!-- perform remap so both turtles listen to the same command topic -->
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<node pkg="turtlesim" exec="mimic" name="mimic">
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<remap from="/input/pose" to="/turtlesim1/turtle1/pose"/>
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<remap from="/output/cmd_vel" to="/turtlesim2/turtle1/cmd_vel"/>
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</node>
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<!-- args that can be set from the command line or a default will be used -->
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<arg name="background_r" default="0" />
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<arg name="background_g" default="255" />
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<arg name="background_b" default="0" />
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<arg name="chatter_py_ns" default="chatter/py/ns" />
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<arg name="chatter_xml_ns" default="chatter/xml/ns" />
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<arg name="chatter_yaml_ns" default="chatter/yaml/ns" />
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<!-- include another launch file -->
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py" />
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<!-- include a Python launch file in the chatter_py_ns namespace-->
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<group>
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<!-- push_ros_namespace to set namespace of included nodes -->
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<push_ros_namespace namespace="$(var chatter_py_ns)" />
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py" />
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</group>
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<!-- include a xml launch file in the chatter_xml_ns namespace-->
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<group>
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<!-- push_ros_namespace to set namespace of included nodes -->
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<push_ros_namespace namespace="$(var chatter_xml_ns)" />
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.xml" />
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</group>
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<!-- include a yaml launch file in the chatter_yaml_ns namespace-->
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<group>
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<!-- push_ros_namespace to set namespace of included nodes -->
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<push_ros_namespace namespace="$(var chatter_yaml_ns)" />
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.yaml" />
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</group>
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<!-- start a turtlesim_node in the turtlesim1 namespace -->
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<node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim1" />
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<!-- start another turtlesim_node in the turtlesim2 namespace
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and use args to set parameters -->
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<node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim2">
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<param name="background_r" value="$(var background_r)" />
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<param name="background_g" value="$(var background_g)" />
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<param name="background_b" value="$(var background_b)" />
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</node>
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<!-- perform remap so both turtles listen to the same command topic -->
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<node pkg="turtlesim" exec="mimic" name="mimic">
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<remap from="/input/pose" to="/turtlesim1/turtle1/pose" />
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<remap from="/output/cmd_vel" to="/turtlesim2/turtle1/cmd_vel" />
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</node>
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</launch>
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.. group-tab:: YAML
@@ -188,21 +243,41 @@ Each launch file performs the following actions:
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name: "background_b"
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default: "0"
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- arg:
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name: "chatter_ns"
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default: "my/chatter/ns"
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name: "chatter_py_ns"
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default: "chatter/py/ns"
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- arg:
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name: "chatter_xml_ns"
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default: "chatter/xml/ns"
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- arg:
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name: "chatter_yaml_ns"
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default: "chatter/yaml/ns"
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# include another launch file
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"
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# include another launch file in the chatter_ns namespace
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# include a Python launch file in the chatter_py_ns namespace
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- group:
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- push_ros_namespace:
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namespace: "$(var chatter_ns)"
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namespace: "$(var chatter_py_ns)"
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"
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# include a xml launch file in the chatter_xml_ns namespace
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- group:
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- push_ros_namespace:
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namespace: "$(var chatter_xml_ns)"
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.xml"
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# include a yaml launch file in the chatter_yaml_ns namespace
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- group:
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- push_ros_namespace:
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namespace: "$(var chatter_yaml_ns)"
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.yaml"
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# start a turtlesim_node in the turtlesim1 namespace
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- node:
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pkg: "turtlesim"

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