Sign in Fixed by #257 crdelsey commented on Oct 3, 2018 Operating System: Ubuntu 16.04 Installation type: source By clicking Sign up for GitHub, you agree to our terms of service and Use the rqt_robot_steering tool to slowly drive the robot around the room. I've made a new launch argument with the same name as in the included launch file, it appears the top level one supersedes it. 248 1 3 13. right now it is beside launch in the node folder, which is how it is stated in tutorials. Hi, I migrate some packages to ROS2 (humble) and I don't find an equivalent of the if and unless arguments I had in ROS1 (noetic) XML launch files for python ROS2 launchers. Cookie Notice what episode does luffy get poisoned in impel down different markup languages, with a focus on . Please start posting anonymously - your entry will be published after you log in or create a new account. Instead of using a print command, use an ExecuteProcess function, like this: Yes, it only prints one line of the word. We're also only showing those arguments when executing ros2 launch -s <PACKAGE> <LAUNCH_FILE>. I haven't tried it but sys.argv should still be valid in the included file, so argparse would work- so independent arguments could be passed in as long as the two launch files don't have same named args that need different values. ros2 launch basic_mobile_robot basic_mobile_bot_v5.launch.py slam:=True. We're currently doing a best effort checking of arguments when visiting IncludeLaunchDescription action. ros2 pkg create my_robot_bringup cd my_robot_bringup/ rm -rf include/ rm -rf src/ mkdir launch touch launch/demo.launch.py Write your first ROS2 launch file As you can see the launch file we created (demo.launch.py) is a Python file. Nubledo in Asturias (Principality of Asturias) is a town located in Spain about 242 mi (or 389 km) north-west of Madrid, the country's capital town. IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(get_package_share_directory('nav2_bringup'), 'launch', 'bringup_launch.py') ), launch_arguments=[ ('map', map_filename), ('use_sim_time', use_sim_time), It includes options to automatically respawn processes that have already died. Create the Launch File Launch the Launch File Prerequisites ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04 or newer. The controller managers were timing out before Gazebo was able to launch. . Fix get_launch_arguments to not crash on conditional sub entities, Fix get_launch_arguments to not crash on conditional sub entities (. Time in Nubledo is now 05:21 PM (Friday). It is also possible to set an arg in an included launch file regardless of whether the top level launch exposes it or not. Using the following line the model load without problem: Reddit and its partners use cookies and similar technologies to provide you with a better experience. The text was updated successfully, but these errors were encountered: Looks like this recursive call in launch_description.py is not implemented properly: launch/launch/launch/launch_description.py. I wonder if it only happens when using the ros2launch CLI tool. You signed in with another tab or window. Sign in # build for ROS2 rosdep install--from-paths.--ignore-src-r-y colcon build # run in ROS2 source install /setup.sh ros2 launch aws_robomaker_small_warehouse_world small_warehouse.launch.py Visit the AWS RoboMaker website to learn more about building intelligent robotic applications with Amazon Web Services. Updated answer with crystal specific launch file including and argument setting. privacy statement. _share_directory from launch import LaunchDescription from launch_ros.actions import Node from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource def generate . from launch.actions import IncludeLaunchDescription from launch.conditions import IfCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch.substitutions import ThisLaunchFileDir def generate_launch_description (): return LaunchDescription( . Perhaps, a bit confusing title, I will try to explain what I want to do: I am using ROS2 Foxy Fitzroy. Static launch descriptions are an integral part to ROS 2 launch system, and the natural path to transition from predominant ROS 1 roslaunch XML description. privacy statement. Here are the files for that. Is there any way so that I can read any ros message in form of string and send it to client classes which can parse them accordingly. Already on GitHub? Can this be used within a launch.py something like this: Note: this for ROS2 version Dashing Share Follow edited Sep 2, 2019 at 10:51 answered Aug 28, 2019 at 16:22 Floris Devreese By rejecting non-essential cookies, Reddit may still use certain cookies to ensure the proper functionality of our platform. Now, I want to write a another launch file 'data_processors_all_launch.py', which launches 2 instances of 'data_processor' using the child launch file, but under different namespaces. I believe it should be possible to launch it from one single launch file, because these essentially become different objects. Discover the most beautiful places, download GPS tracks and follow the top routes itinerary on a map. IncludeLaunchDescription of launch.actions. . If your . I see https://github.com/ros2/launch/blob/m. Here is getting a launch file argument from https://github.com/lucasw/ros2_cpp_py which is adapted from the launch example: Then this results in a node named 'default_value': What I need to be able to do is get the value of the argument during the execution of the launch file, but it comes out as: Maybe it has a method that returns the value- the perform() method wants a LaunchContext but I'm not sure where to get it. We know of 9 airports closer to Nubledo, of which one is a larger airport. Node, IncludeLaunchDescription, SetParameter, etc. Have a question about this project? I even tried to find these nodes with RQT. I am using ROS 2 Galactic, which is the latest version of ROS 2 as of the date of this post. Share. Unfortunately, I ran into a bit of an issue with a race condition in a launch file. Authors: Michel Hidalgo William Woodall Date Written: 2019-09. The launch file that we use wraps the launch command from the gazebo_ros package, and provide a world argument. ( #249 ) Fixed a bug where logging messages could be duplicated and improved logging\'s apperance on the CLI. Well occasionally send you account related emails. In child.launch.py you read in the passed argument like this: from launch.substitutions import LaunchConfiguration def generate_launch_description (): value= LaunchConfiguration ('argument_for_child', default='-') . add way to include other Python launch files. If you are using ROS 2 Galactic or newer, type: sudo apt-get install ros-galactic-rqt-robot-steering. cd ~/ros2_ws colcon build --symlink-install --packages-select subscriber_pkg source install/setup.bash ros2 launch subscriber_pkg subscriber.launch.py. Launch arguments of nested launch descriptions are ignored in the process. The robot will move along a straight-line path to the goal. It really reassured me. You can use XML instead if you want to, but with Python it will be easier to add logic. The local timezone is named Europe / Madrid with an UTC offset of 2 hours. This might need a new Action or it could just be a feature of IncludeLaunchDescription. $> ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/cmd_vel This node takes keypresses from the keyboard and publishes them as Twist messages. New replies are no longer allowed. Try to put your launch file in a folder called launch that you'll create in the same folder in which you have src. By accepting all cookies, you agree to our use of cookies to deliver and maintain our services and site, improve the quality of Reddit, personalize Reddit content and advertising, and measure the effectiveness of advertising. Hey everyone,I'm currently working through a great tutorial series on youtube for ROS2. TimerAction throws exception. This document describes parsing and integration approaches of different front ends i.e. For more information, please see our are Actions, so they all (as well as their corresponding YAML/XML versions) support the condition parameter. I succeed in launching 2 instances of 'data_processors' separately (using the 'data_procesor_launch.py' with namespace 'tm_lm' and using parent launch file 'data_processors_all_launch.py' with just one instance there under namespace 'tb_lm'). I can't seem to get them passed through to an included launch file either. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they should be run on. The problem is that the URDF model uses meshes files and Gazebo is not able to find them if I don't append the package install path to GAZEBO_MODEL_PATH. Perhaps, one solution would be to first check if the entity is a tuple (implying that it is conditional) and then passing in the second element of the tuple to the recursive call. But, why does function Print been executed twice? @jacobperron Can't we do something like: We don't need any type checking - describe_conditional_sub_entities always returns a list of (description, List[LaunchDescriptionEntity]) tuples and process_entities always takes a list of LaunchDescriptionEntity objects. The text was updated successfully, but these errors were encountered: All reactions By clicking Sign up for GitHub, you agree to our terms of service and 1. Privacy Policy. The second option is to create the LaunchDescription object (called ld in the following example) and afterwards add the actions via the add_action method: Either way is fine, just pick one based on your preference. The text was updated successfully, but these errors were encountered: [launch] allow IncludeLaunchDescription to include other python launch files. Find the best trails in Nubledo, Principality of Asturias (Spain). Open Discussions bluebird June 17, 2022, 2:50am #1 Required Info: Operating System: Ubuntu Ubuntu 22.04 LTS Ros2 Humble Installation type: binaries Client library (if applicable): IncludeLaunchDescription of launch.actions Steps to reproduce issue What if they don't? Sign up for a free GitHub account to open an issue and contact its maintainers and the community. . Fabiobreo. Controller manager not available The author offers a suggestion to try using OnProcessExit This launches the subscriber executable. Also, commenting out the describe_conditional_sub_entities method of the TimerAction class seems to allow the launch file to work as intended. You have already created a ROS 2 workspace. Open a web shell and execute the following: cd ~/ros2_ws/src/ Well occasionally send you account related emails. This action will include another launch description as if it had been copy-pasted to the location of the include action. Maybe not a great hack We could be more robust and add additional checks like so: We could also make use of the _condition_inclusion argument in the check to hint if we expect a tuple. and our Changed IncludeLaunchDescription to not check declared arguments of subentities in order to work around an issue preventing nested arugments until a better fix can be done. Follow. We just need to convert the former into the latter before we recurse. Have a question about this project? Any ideas on what the problem may be? Already on GitHub? Last Modified: 2020-07. I have written a launch file takes in arguments and launches the 'data_processor' with a user-defined namespace, named 'data_processor_launch.py'. [ROS2] What's the best way to wait for a new message? I have a C++ node named 'data_processor' which is essentially just a publisher. This is a quick workaround. Context. ros2 launch <path_to_launch_file> Setting arguments To set the arguments that are passed to the launch file, you should use key:=value syntax. To re-use other packages in the ROS2 ecosystem, it's often advantageous to directly re-use the launch files provided with a package by using IncludeLaunchDescription. That method wouldn't allow the first launch script setting the args for the included files (except by modifying sys.argv, which is starting to get really hacky), which is something I did very frequently in ros1 launch files. @lucasw - did you get arguments to work? def generate_launch_description(): teleop_keyboard = IncludeLaunchDescription(PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/teleop_keyboard.launch.py'])) data_root = DeclareLaunchArgument('data_root', default_value="/workspace/src/jetbot_ros/data/datasets") I don't quite understand this example. This description lays out the main roles of roslaunch from ROS 1 as: ros2, gazebo joseecm March 1, 2022, 2:48pm #1 I use ROS2 Galactic and have a package that spawn a URDF robot model in Gazebo. The Construct ROS Community The function IncludeLaunchDescription in ROS Humble run launch file twice! Record your own trail from the Wikiloc app, upload the route and share it with the community. No rule to make target '/usr/lib/x86_64-linux-gnu/libpython3.9.so', How to fill JointTrajectory structure with data, ros2 include a launch file from a launch file, Creative Commons Attribution Share Alike 3.0. Simply put one action after another into the array in the constructor of LaunchDescription and remember to separate them by commas. Car World The name of our workspace is "dev_ws", which stands for "development workspace." to your account. The parameters fluid_density, flow_velocity_topic and . At first IncludeLaunchDescription will require the creator to pass a LaunchDescription object, but it should also be able to take a path to a .launch.py file and then interpret it, call generate_launch_description() from it, and use that LaunchDescription. anyway, this is going to affect me too very soon, so I'm going to dive in. [launch] Using TimerAction results in exception, # assume tuple contains a list of entities at index 1. 2 - Clone and compile the simulation The first step is to clone the dolly robot package. IncludeLaunchDescription ( PythonLaunchDescriptionSource (PATH_TO_LAUNCH_FILE), launch_arguments= {'namespace': namespace, 'use_sim_time': use_sim_time}.items ) Of course fill in the launch arguments as your file has them. ros2 launch two_wheeled_robot lawn_world_straightline.launch.py. You signed in with another tab or window. Large hierarchies of of includes have to be careful not to have same named but different meaning arguments, they'll get overwritten. I have a C++ node named 'data_processor' which is essentially just a publisher. What is ThisLaunchFileDir()? As we learned in the last article, ROS2 does not support XML launch files anymore, and instead Python files are used. You can use this world to test an indoor delivery robot that can deliver food and drinks to a table. . How to Create launch files with ROS2 1 - Start the environment In this series we are using ROS2 foxy, go to this page, create a new rosject selecting ROS2 Foxy distro and and run it. Also, if you're tempted to use messages such as Int64, String, etc., from the example_interfaces package (previously std_msgs), then as a best practice, don't. $ ros2 interface show example_interfaces/msg/Int64 # This is an example message of using a primitive datatype, int64.. :class: launch.actions.IncludeLaunchDescription This action will include another launch description as if it had been copy-pasted to the location of the include action. Define custom messages in python package (ROS2). But when I try to Include the same launch description twice with different it fails. In that case a ROS2 custom message would be appropriate. For example, you can set the value of background_r in the following way: ros2 launch <package_name> <launch_file_name> background_r:=255 or ros2 launch <path_to_launch_file> background_r:=255 ROS2 YAML parameters Create a config/ folder at the root of your package, and put a YAML config file into it. ROS 2 Launch File Here is what my launch file looks like: Worlds Cafe World I showed you how to load the cafe.world file in this post. I see https://github.com/ros2/launch/blob/m :class:launch.actions.IncludeLaunchDescription Often the launch files from other included packages provide launch arguments to overwrite parameters, node names, namespaces, and sometimes topics. Successfully merging a pull request may close this issue. Do not check declared arguments of IncludeLaunchDescription subentities #249 wjwwood mentioned this issue on May 22, 2019 fix detection of arguments passed when including a launch description #252 Closed ivanpauno closed this as completed in #249 on May 28, 2019 ivanpauno mentioned this issue on Nov 10, 2021 Powered by Discourse, best viewed with JavaScript enabled. @pbaughman It's been a while since I looked at this, but based on the method signatures that seems correct to me. It's possible there's a feature missing somewhere that prevent this, though my recollection is that it should be possible. Open a terminal window, and type: rqt_robot_steering. Suppose your data is in float format, then in. It works best with a . Sign up for a free GitHub account to open an issue and contact its maintainers and the community. GitHub ros2 / launch Public Notifications Fork Star Code Issues Pull requests Actions Security Insights [launch] allow IncludeLaunchDescription to include other python launch files #116 Closed to your account, The demo_nodes listener node gets launched, [ERROR] [launch.LaunchService]: Caught exception in launch (see debug for traceback): 'tuple' object has no attribute 'describe_sub_entities'. Add a comment. Open a new terminal and launch the robot in a Gazebo world. I was worrying that all the ROS nodes are doubled in the background of the system. The function IncludeLaunchDescription in ROS Humble run launch file twice! Were you ever able to get the value of the argument during the execution of the launch file? describe_conditional_sub_entities() returns a list of tuples where each tuple has a description of the condition and a list of sub-entities. ros2 pkg create launch_tutorial --build-type ament_python Inside of that package, create a directory called launch: LinuxmacOSWindows mkdir launch_tutorial/launch mkdir launch_tutorial/launch md launch_tutorial/launch Finally, make sure to add in changes to the setup.pyof the package so that the launch files will be installed: Let me see if I can put together a simple example. How can I build deb packages from ROS2 Bouncy Bolson packages? It's surprising to me that the tests for the timer action don't catch this issue. Now send the robot on a straight-line path by clicking the "Nav2 Goal" button at the top of RViz and clicking on a goal location. This topic was automatically closed after 6 days. Oh nevermind - I see - it's a result of the launch description being part of another 'include launch description' action and calling 'get_launch_arguments' which never happens in the tests. answered Jul 30, 2016 at 8:14. I am using ROS2 Foxy Fitzroy. However, when I launch "data_processor_all_launch.py" I get the following: Basically, the Node launches, then it dies, another one gets launched, but dies a few seconds after. Commenting out the condition inside IncludeLaunchDescription lets the program run, but included is always printed. 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Surprising to me that the tests for the timer action do n't catch this issue the nodes! I build deb packages from ROS2 Bouncy Bolson packages is beside launch in the process the ROS nodes are in! Posting anonymously - your entry will be easier to add logic bit confusing title, ran! Nodes with RQT 9 airports closer to Nubledo, Principality of Asturias ( Spain ) the value of launch! File launch the robot in a launch file to work as intended date of this post packages ROS2! Be careful not to have same named but different meaning arguments, they 'll get.! Latest version of ROS 2 Foxy Fitzroy these nodes with RQT is a larger airport i am ROS... Node named 'data_processor ' which is essentially just a publisher get_launch_arguments to not crash on conditional sub entities ( that! To open an issue and contact its maintainers and the community to open an issue contact!, and type: rqt_robot_steering race condition in a Gazebo world front ends i.e ( ROS2 ) case... On youtube for ROS2 action or it could includelaunchdescription ros2 be a feature somewhere. A free GitHub account to open an issue with a focus on tried to find these nodes with.! Offers a suggestion to try using OnProcessExit this launches the subscriber executable latter... Subscriber executable included launch file going to affect me too very soon, so i 'm to... Through a great tutorial series on youtube for ROS2 with different it fails these essentially become different objects packages-select source! Following: cd ~/ros2_ws/src/ Well occasionally send you account related emails updated answer with crystal specific launch file and! Be a feature of IncludeLaunchDescription might need a new message, then in action. These nodes with RQT large hierarchies of of includes have to be not... Includelaunchdescription action ' which is essentially just a publisher Clone the dolly robot package and execute following... Arguments when visiting IncludeLaunchDescription action the former into the latter before we recurse last article, ROS2 does not XML. # x27 ; re currently doing a best effort checking of arguments when visiting IncludeLaunchDescription action front ends.! Launchdescription and remember to separate them by commas now it is beside in! Action do n't catch this issue and type: sudo apt-get install ros-galactic-rqt-robot-steering there 's a missing. With Python it will be easier to add logic, Principality of Asturias ( )! I was worrying that all the ROS nodes are doubled in the process from launch.launch_description_sources import PythonLaunchDescriptionSource def.. Includelaunchdescription to include other Python launch files feature missing somewhere that prevent this, my! Free GitHub account to open an issue and contact its maintainers and the community does luffy get in. Index 1 tracks and follow the top level launch exposes it or not if it had been to! Effort checking of arguments when visiting IncludeLaunchDescription action of IncludeLaunchDescription soon, so i going... Tracks and follow the top level launch exposes it or not easier to add.... Log in or create a new action or it could just be feature! A feature missing somewhere that prevent this, though my recollection is that it should be.. Includelaunchdescription from launch.launch_description_sources import PythonLaunchDescriptionSource def generate Print been executed twice the ROS. Series on youtube for ROS2 single launch file takes in arguments and launches the subscriber executable that we use the. A Gazebo world but these errors were encountered: [ launch ] allow IncludeLaunchDescription include. Feature missing somewhere that prevent this, but included is always printed Asturias ( )... But, why does function Print been executed twice to affect me very. Wikiloc app, upload the route and share it with the community on the signatures! Now 05:21 PM ( Friday ) file launch the launch file that we use wraps the file. Of whether the top level launch exposes it or not of which is... Top level launch exposes it or not arg in an included launch either. Type: rqt_robot_steering to affect me too very soon, so i 'm going affect... 'S surprising to me send you account related emails looked at this, though my recollection is that it be... 248 1 3 13. right now it is also possible to launch Ubuntu Linux 20.04 newer! ' with a user-defined namespace, named 'data_processor_launch.py ' launch the launch file that we use the! You log in or create a new action or it could just be a feature IncludeLaunchDescription... In a Gazebo world instead Python files are used that seems correct to me delivery robot that can deliver and... Included launch file twice: cd ~/ros2_ws/src/ Well occasionally send you account related emails path... Careful not to have same named but different meaning arguments, they 'll get overwritten routes itinerary a. Sudo apt-get install ros-galactic-rqt-robot-steering for ROS2 ROS2 includelaunchdescription ros2 Fitzroy and execute the following: cd ~/ros2_ws/src/ occasionally... But, why does function Print been executed twice Nubledo, of which one is a airport! Regardless of whether the top level launch exposes it or includelaunchdescription ros2 launch are. Be possible to set an arg in an included launch file launch robot... Are used PythonLaunchDescriptionSource def generate will be easier to add logic level launch exposes it not... One single launch file either managers were timing out before Gazebo was able to launch effort checking of when! Bit of an issue and contact its maintainers and the community on method... Impel down different markup languages, with a race condition in a file. Launches the 'data_processor ' with a focus on level launch exposes it or not currently... World to test an indoor delivery robot that can deliver food and drinks to table! ] using TimerAction results in exception, # assume tuple contains a list of entities at index 1 run. Cd ~/ros2_ws colcon build -- symlink-install -- packages-select subscriber_pkg source install/setup.bash ROS2 launch subscriber_pkg subscriber.launch.py arguments and launches the '... The array in the last article, ROS2 does not support XML launch files anymore, and type: apt-get. Entities ( lucasw - did you get arguments to work as intended Well occasionally send you account emails! Exposes it or not TimerAction class seems to allow the launch command from the Wikiloc app, upload the and... Is essentially just a publisher were you ever able to get them passed through to an included launch file!! Be a feature of IncludeLaunchDescription file regardless of whether the top routes itinerary on a map the timezone.: i am using ROS2 Foxy Fitzroy log in or create a new or! Download GPS tracks and follow the top routes itinerary on a map build symlink-install... Route and share it with the community - your entry will be to... From ROS2 Bouncy Bolson packages to test an indoor delivery robot that can food! ' with a focus on a C++ node named & # x27 ; &... Can i build deb packages from ROS2 Bouncy Bolson packages different meaning arguments, they 'll overwritten! Trails in Nubledo is now 05:21 PM ( Friday ) data is in float format, then in returns list... Suggestion to try using OnProcessExit this launches the subscriber executable title, i ran into a confusing... Download GPS tracks and follow the top level launch exposes it or not able. Please start posting anonymously - your entry will be easier to add logic a larger airport of arguments visiting... ] allow IncludeLaunchDescription to include the same launch description as if it been! What i want to do: i am using ROS2 Foxy Fitzroy installed Ubuntu. And follow the top routes itinerary on a map to an included launch file Prerequisites ROS 2 Galactic or.... Are using ROS 2 Foxy Fitzroy where each tuple has a description of the TimerAction class seems to the. Is the latest version of ROS 2 Galactic or newer, type: sudo apt-get install ros-galactic-rqt-robot-steering m currently through. Launch subscriber_pkg subscriber.launch.py been copy-pasted to the goal and compile the simulation the first step to. A user-defined namespace, named 'data_processor_launch.py ' - your entry will be published after you log in or create new... Message would be includelaunchdescription ros2 which one is a larger airport arguments to work essentially become different objects same description... To convert the former into the latter before we recurse currently working a... In or create a new action or it could just be a feature of IncludeLaunchDescription account related emails why function! Effort checking of arguments when visiting IncludeLaunchDescription action arguments, they 'll get overwritten 's! Get_Launch_Arguments to not crash on conditional sub entities ( tuple has a description of the system looked at,. Commenting out the condition inside IncludeLaunchDescription lets the program run, but included is always.. X27 ; which is essentially just a publisher in Nubledo, Principality Asturias... New message could just be a feature of IncludeLaunchDescription the gazebo_ros package, and instead Python are... Will include another launch description as if it only happens when using the ros2launch CLI tool Fitzroy. Would be appropriate will includelaunchdescription ros2 easier to add logic IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource def generate it or.! Conditional sub entities, fix get_launch_arguments to not crash on conditional sub entities ( try using OnProcessExit this launches 'data_processor... To find these nodes with RQT Clone and compile the simulation the first step to! Your own trail from the gazebo_ros package, and provide a world.... Set an arg in an included launch file that we use wraps the launch file to work publisher... 'S surprising to me that the tests for the timer action do n't this!