ros2 remapping launch file
When an instance of the --ros-args flag is found in argv, until either a double dash token (--) is found or the end of the argument array is reached, all arguments that follow are taken as ROS specific arguments to be parsed as such. What if they don't? I have tried it with a simple example and having the remap tag before the node tag is the correct way: Are you sure your teleop node actually has that topic? Then if the replacment name does not begin with / it is automatically prefixed with the nodes default namespace to make it a FQN. This namespace gets prepended to all relative names used by the node. All private names are expanded to the new name before any remapping rules are applied to them. To limit it to some_node, one may execute: Parameter assignment may be achieved using the --param/-p option. How to change/remap ros node name in launch file? This option takes a single name:=value assignment statement, where value is in YAML format and thus YAML type inference rules apply. In exchange, it makes argument extraction slightly more difficult as all options must be known ahead of time, whereas --ros-args-based namespacing can achieve the same with a couple rules. Rely on full name addressing to disambiguate operator significance e.g. 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. For single parameter assignment, use either. Important note: the line order in launch files for remapping is very important. This tutorial will explain everything you need to know about ROS2 launch files. 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 . The replacement side of a rule must have a FQN which will become the new default namespace. Remove the need for double dash tokens (--), conventionally used to signify the end of CLI options for a command, by adding the --ros- prefix to all ROS specific command line flags e.g. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace The "topic1" won't be here anymore, instead you'll get the messages from "topic2". The first part is used to determine if the rule applies to a name. You'll see the entire process to create, write, install, and start the launch file. Next, the launch description itself begins: The first two actions in the launch description launch the two turtlesim windows: The final action launches the mimic node with the remaps: The first two actions launch the two turtlesim windows: To run the launch file created above, enter into the directory you created earlier and run the following command: It is possible to launch a launch file directly (as we do above), or provided by a package. For example **/bar:=/bar/\1 matches the name /foo/bar with ** capturing /foo, but the new name is /bar/foo. The second part is the replacement for a matched name. This option takes a YAML file with the following structure: Multiple nodes in a single executable can be targeted this way. The syntax here can be passed to a node via the command line. URDF . When this creates a name with // one slash is automatically deleted. Both turtles in this system receive commands over the same topic and publish their pose over the same topic. In other words, turtlesim2 will mimic turtlesim1s movements. A syntax like fnmatch is being considered. This keeps the command line verbosity at a minimum and avoids the need for flags, but is error prone. import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): ld = LaunchDescription() config = os.path.join . If no URL scheme is given then the rule applies to both topics and services. It is possible a token is used throughout an interface, but is undesirable to the end user. A remap rule consists of two names: one that should be replaced with another. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. Prerequisites. In ROS 2 just one rule could remap them all. I am trying to rename a node after launching not the topics. Remaining arguments can still be accessed by the user via rcl API. However, parenthesis are not used; the wild cards always capture. This means it should be possible to make a rule that replaces all uses of this token. Remapping rules have two parts. The replacement part of a rule may not have a URL scheme. On the match side it may be used by itself or with a nodename: prefix. Log messages use the new name immediately. The output of rosnode list is. Without remapping every instance of a node would require changes in code. This way the new rule matches against the name the user sees with introspection tools rather than the original name used in code. For example */bar **/* ~/* are allowed, but *bar *** ~* are invalid. The argument __node:= has the same effect. Launch files written in Python, XML, or YAML can start and stop different nodes as well as trigger and act on various events. Then the name is expanded to a FQN. I want to rename the node launched in the included launch file. Remapping rules are the instructions describing how a node should change the names it uses. Doing so requires matching prior to FQN expansion. Topics, parameters, and services are identified by Names. The complete definition of a name is here. Stop using the same := operator for parameter assignments and name remapping rules and introduce additional operators e.g. Copy and paste the complete code into the launch/turtlesim_mimic_launch.py file: Copy and paste the complete code into the launch/turtlesim_mimic_launch.xml file: Copy and paste the complete code into the launch/turtlesim_mimic_launch.yaml file: All of the launch files above are launching a system of three nodes, all from the turtlesim package. rosparam://this:=that would result in a that string value being assigned to parameter this while rosremap://this:=that would result in name this being remapped to name that. Hi, Here the syntax is the same, and additionally it can be prefixed with a nodes current name. In ROS 1 the argument __ns:= could change the default namespace. As an example, to pass some_log.config configuration file to some_ros_executable, one may execute: Logging to rosout, stdout and an external logging library can be independently enabled or disabled. To avoid confusion they are required to be separated from tokens, substitutions, and each other by a /. There are two cases: changing part of a namespace, and changing the entire namespace. ros2 run some_package some_ros_executable --ros-args --remap foo:=bar or its shorter equivalent: ros2 run some_package some_ros_executable --ros-args -r foo:=bar As is, this remapping rule applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. Unique namespaces allow the system to start two nodes without node name or topic name conflicts. As an example, to assign an enclave path /foo/bar one may execute: As is, this enclave assignment applies to each and every Domain Participant that some_ros_executable spawns unless explicitly ignored in code or overridden via security environment variables. The replacement must be a single token which will become the nodes new name. This use case is the ability to change the namespace of multiple names with one rule. This means mimic will subscribe to /turtlesim1/sims pose topic and republish it for /turtlesim2/sims velocity command topic to subscribe to. A user may want to change a name used in one node without affecting the rest. This option takes a single string value assignment statement, where value is a fully qualified enclave path used to locate the respective security artifacts within the configured keystore. in a single file, that you can launch with only one command line. articles/160_ros_command_line_arguments.md. Remapping rules have two parts. I am using hydro on Ubuntu 12.04. The structure i have been using is: Or else in this case you can copy the contents of .launch file in another file and remap it there itself. ; You have already created a ROS 2 workspace.The name of our workspace is "dev_ws", which stands for "development workspace." The design document details the goal of the design of ROS 2s launch system (not all functionality is currently available). Does that mean I can't rename nodes? The act of replacing one name with another is remapping. If both a node name prefix and URL scheme are given, the node name prefix must come first. This is the ability to match a name by how it is used in code. Special Rule for Changing the Default Namespace, Supporting: Exact Relative Name Replacement, Supporting: Remap Topic and Service Names Separately, A user wants the node to subscribe to the same data after some processing, A company sells a generic mobile robot base with a ROS 2 driver. It still does not work. Instead of starting each process manually, they allow you to start multiple nodes with one command and add logic to your startup sequence. a ROS client library like rclcpp, arguments unknown to rcl are left unparsed but accessible by these layers, which in turn can continue parsing or eventually warn the user if unknown arguments remain. Goal: Create a launch file to run a complex ROS 2 system. The included launch file names the node as turtlebot_teleop_keyboard. Command line argument extraction happens within rcl. The following launch file does not rename the node. This syntax is identical to ROS 1. Supporting this use case with a single rule is not a priority. the following does not change it: Please start posting anonymously - your entry will be published after you log in or create a new account. Remapping a node name is not possible using roslaunch. "Could not find parameter robot_description_semantic" URDF ROS . Because remapping needs to capture text to use during replacement, the C function fnmatch() cannot be used as the implementation. link Comments It still does not work. Remapping names allows reusing the same node executable in different parts of the system. To limit it to some_node, one may execute: Multiple parameter assignments can be performed at once using the --params-file option. This should be changeable without affecting FQN. The node name is used in log messages and to create private names. Because the user will see the name after it has been remapped by static rules, dynamic rules should be applied after static ones. This article describes the requirements, rationale, and mechanisms for remapping names in ROS 2. := behaves the same as it does in ROS 1. Specifying a URL scheme on the match side of the rule makes it exclusive to one type of name. ros2launchpythonyamlxml.launch.xml ros1ros noderos nodeletros2component launch.py component; Python Launch. The substitution operators (~ and {}) are replaced first. I commented the remapping so file looks like: I includeed this launch file and tried your answer and it does not rename the node. Example of topic/service remapping order: Example of node/namespace remapping order: Example of a default and node specific namespace remap: The following sections explain how the syntax enables the use cases above. With a launch file you can write all the nodes with a complete configuration (remapping, parameters, etc.) Matching works on FQN only. Here is a launch file I am using. The name is remapped to the right side only if it exactly matches the left side of a rule. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. Remapping rules are applied in the following order: Within each category, the rules are applied in the order in which the user gave them. The second requires a wildcard to match the basename at the end. When launching the two turtlesim nodes, the only difference between them is their namespace values. To prevent ROS specific command line flags from colliding with user-defined ones, the former are scoped using the --ros-args flag and a trailing double dash token (--): Note that --ros-args -- i.e. Exact FQN replacement requires no wildcards. The second part is the replacement for a matched name. A user can supply node specific remapping arguments via the command line. Fnmatch syntax may or may not match text with slashes depending on the option FNM_PATHNAME. 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 A robot that has multiple sensors of the same type could launch multiple instances of the same node with outputs remapped to different topics. The match part of a rule uses these operators: The operators * and ** are similar to the globbing behavior in bash. Remapping a node in a process requires a way to uniquely identify a node. This is a proposal for the ROS 2 remapping rule syntax. The default namespace is the one in which relative names get expanded to. A hidden node (the ros2 topic pub command you ran) is publishing data to the /turtlesim1/turtle1/cmd_vel topic on the left, which the /turtlesim1/sim node is subscribed to. Instead, you can use a so-called launch file. Partial matches are not allowed (e.g. mimics /input/pose topic is remapped to /turtlesim1/turtle1/pose and its /output/cmd_vel topic to /turtlesim2/turtle1/cmd_vel. It should be read before reading this article. This is the ability to change a token in multiple names regardless of where it appears. It is also responsible for monitoring the state of the processes launched, and reporting and/or reacting to changes in the state of those processes. Remapping a node name is not possible using roslaunch. ROS2 launch files are a powerful tool for robotics applications. This also isnt a true remapping rule, but the syntax is similar. This is the ability to change the basename of multiple names with one rule. This option takes a single configuration file, whose format depends on the actual external logging library being used. Flags, in contrast with other custom syntax alternatives, are: Unfortunately, since these flags coexist with user-defined ones, additional guarding and extraction devices must be put in place one of the reasons why these were avoided entirely in ROS 1 command lines. ROS 1 has this feature using the argument __name. Minimum logging level can be externally set either globally or per logger using the --log-level option. Names are hard coded in ROS nodes, but they can be changed at runtime through remapping. Before a name is remapped it is also expanded to FQN. In the example where you remap the topic from chatter to foobar, the node is of type talker and it's name is "talker". ROS2 BASICS IN 5 DAYS. This is also part of ROS 1 remapping. I think you need to specify the node name under which this topic is published. If the name matches it is remapped. This character may still be difficult on other shells, like zsh. If yes then how is it done. ** matches zero or more tokens delimeted by slashes. Remapping affects both which topics a node subscribes to or publishes to. Turtlebot_bringup[WARN]Create : robot not connected yet, sci not available, Cannot launch turtlebot dashboard [closed], Are there any turtlebot ROS apps for ios ? It may be useful for a developer who has started a node and wants to connect it to a different source. When a name is to be tested the substitution operators (~ and {}) in the name and in the rule are replaced with the content they stand for. Is it possible?? And, to make sure the ROS launch file can find the code, we have to make sure we change the permissions of the Python script before we execute the launch file. [closed], Undefined reference to cv::Feature2D::compute. See Using Python, XML, and YAML for ROS 2 Launch Files for a description of the different formats. If the match part of a rule does not begin with /, *, or ** it is prefixed with /namespace/ to make it a FQN. Launch files simplify running complex systems with many nodes and specific configuration details. As an example, to disable logging to rosout and stdout but not to an external logging library for some_ros_executable, one may execute: Logging is fully enabled by default, thus --enable-* options are usually redundant unless a --disable-* option found earlier in the command line is being overridden. Remapping is a feature that also exists in ROS 1. It attempts to be the same as ROS 1 syntax when possible. := for parameter assignment and ~= for name remapping. With unique namespaces, messages meant for different turtles can be distinguished. The replacement side must have a FQN with no special operators. In ROS1 launch files were implemented in XML. Assuming the nodes name is unique in a process, a rule can be prefixed with the name of the target node and a :. The structure of a remapping rule is match:=replacement. If the node name is not prefixed, the rule will be applied to all nodes in the process. This allows a user to remap a relative name to another name. --ros-remap, --ros-param, etc. The design document details the goal of the design of ROS 2's launch system (not all functionality is currently available). roslaunch my_robot_tutorials remap_test.launch - you'll have the same result as with the rosrun argument. Because processes in ROS 2 can contain multiple nodes, it is possible multiple nodes in a process may use the same name for different purposes. I'd like to use something like we do in ROS1: This node has added configuration details in the form of remappings. See rcutils and rcl logging documentation for reference on existing logging levels. Often the launch files from other included packages provide launch arguments to overwrite parameters, node names, namespaces, and sometimes topics. The character for the wild card * was chosen to match fnmatch. If you have control over the launch file you can use an argument to allow passing in a different name for the node name. an empty set is a valid invocation. ROS2 allows you to run individual nodes with the command: $ ros2 run <package_name> <node_name> This is nice and fun if you are just running a couple of nodes at the same time, but imagine you need to run 10-20 nodes like this. I explain it better: my launch file loads the parameters for my node from some YAML files, but sometimes I want to test other parameters without modifying the YAML file using some kind of CLI overload. While the system is still running, open a new terminal and run rqt_graph to get a better idea of the relationship between the nodes in your launch file. Is there a way to remap a parameter by command line using the $ ros2 launch command? It means relative names are first expanded to FQN, and then processed as during exact FQN replacement. The launch system in ROS 2 is responsible for helping the user describe the configuration of their system and then execute it as described. will set the parameter string_param on any node in the namespace /foo. As an example, to set a global logging level to DEBUG for some_ros_executable, one may execute: Loggers can be set using the --log-level option as well: The minimum logging level of a specific logger will override the globally specified minimum logger level. This is the case for name remapping rules or parameter assignments flags, to name a few. If you have control over the launch file you can use an argument to allow passing in a different name for the node name. Finally the name is compared against the match part of the rule. The strings __name or __node can be given on the match part of a rule to signal a change of the nodes name. However, to support ROS specific arguments that target upper ROS layers e.g. In ROS 1 the argument __name:= could change the nodes name. Now they are implemented in Python. The first case requires a wildcard to match the rest of a namespace. If you write this instead: <launch> Tasks 1 Setup Create a new directory to store your launch files: mkdir launch 2 Write the launch file Let's put together a ROS 2 launch file using the turtlesim package and its executables. The wildcard ** is useful because it matches every possible namespace when combined with a slash. You can create launch files using Python, XML, or YAML, and run them using the ros2 launch command. The replacement side must have a single token. The second part is the replacement for a matched name. As a quick summary of ROS command line capabilities: For name remapping and parameter assignment, specific nodes can be targeted by prepending the option value with the node name followed by a colon :, as in --remap my_node:from:=to and --param my_node:name:=value. This description lays out the main roles of roslaunch from ROS 1 as: launch nodes launching nodes remotely via SSH setting parameters on the parameter server automatic respawning of processes that die static, XML based description of the nodes to launch, parameters to set, and where to run them will set the parameter string_param on nodes named some_node in any namespace. As an example, to remap from foo to bar for some_ros_executable, one may execute: As is, this remapping rule applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. This is a feature of ROS 1 remapping. Static remapping is giving a node remapping rules at the time it is launched. How To Display Launch Arguments for a Launch File in ROS2; Getting Started With OpenCV in ROS 2 Galactic (Python) Connect Your Built-in Webcam to Ubuntu 20.04 on a VirtualBox . Nodes that are launched before any remap lines are not affected. ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04 or newer. As always, dont forget to source ROS 2 in every new terminal you open. The basename is the last token in a name. This tutorial uses the rqt_graph and turtlesim packages. roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server.It includes options to automatically respawn processes that have already died. will set the parameter string_param on all nodes. The design document details the goal of the design of ROS 2's launch system (not all functionality is currently available). 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. 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 Dynamic remapping is the ability to remap a name while a node is running. The extra wildcards ? Creative Commons Attribution Share Alike 3.0. So I found you can rename the node with remap, like this: For the record, just remapping the node name does not work, i.e. ROS 1 remapping works on Fully Qualified Names (FQN). ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace This is to avoid a mismatch between the scheme type of the match side and of the replacement side. The rest of the graph shows what was described earlier: mimic is subscribed to /turtlesim1/sims pose topic, and publishes to /turtlesim2/sims velocity command topic. foo*). The string __ns can be given on the match part of a rule to signal a change of the default namespace. The first part is used to determine if the rule applies to a name. . Nodes are said to be in a namespace or have a default namespace. I am using ROS 2 Galactic, which is the latest version of ROS 2 as of the date of this post. Enclave assignment may be achieved using the --enclave/-e option. They may not be prefixed to a node name or namespace replacement rule (__name, __node, or __ns). and [] dont appear to enable more uses cases above. bringup_dir = get_package_share_directory ( 'nav2_bringup') use_composition = LaunchConfiguration ( 'use_composition') # Map fully qualified names to relative ones so the node's namespace can be prepended. It also ensures that all launch file formats are recognized. To limit it to some_node, one may execute: MoveIt! All relative names are expanded to the new namespace before any remapping rules are applied to them. Example of partial namespace replacement: Changing a basename requires a wildcard which matches the entire namespace. Two turtlesim windows will open, and you will see the following [INFO] messages telling you which nodes your launch file has started: To see the system in action, open a new terminal and run the ros2 topic pub command on the /turtlesim1/turtle1/cmd_vel topic to get the first turtle moving: You will see both turtles following the same path. First we'll start with a simple launch file to start 2 nodes. In ROS 1 remapping an actionlib client or server means creating 5 remapping rules. Because a process can contain multiple nodes, there must be a way to uniquely identify a node in a process. This isnt really a remapping rule, but the syntax is similar. The syntax has been chosen to not conflict with special shell characters in bash. According to the docs ( http://wiki.ros.org/roslaunch/XML/remap ) remap affects all subsequent nodes. For example in bash, the character * only has special behavior if it is surrounded by whitespace, but remap rules dont contain whitespace. Client libraries also have APIs in code to pass remapping rules when the node is initialized. The configuration of the system includes what programs to run, where to run them, what arguments to pass them, and ROS-specific conventions which make it easy to reuse components throughout the system by giving them each a different configuration. That would be really cumbersome to do so. It looks the launch file you are using might already perform some kind of remapping internally: https://github.com/turtlebot/turtlebo Update 2: this only describes how to remap a topic. If no user defined arguments are provided after ROS specific arguments are, the double dash token (--) may be elided: Note that a sole trailing --ros-args remains a valid invocation. This is the ability to replace a name by exactly matching it. The goal of the system is to launch two turtlesim windows, and have one turtle mimic the movements of the other. Just to clarify. The syntax doesnt have a way to specify that a rule should be applied Prior to FQN expansion. I would like to rename a node from a launch file which includes other launch file. These references are required to be separated from tokens by a /. *, and ** match whole tokens only. This signficantly increases command line verbosity, but still avoids the need for flags. You will also need to use a text editor of your preference. Because of this, increasingly precise addressing mechanisms as well as leading double underscores (__) in some positional arguments, both natural extensions of existing ROS 1 command line features, are combined with ROS 2 specific command line flags. Remapping rules have two parts. ROS 1 has this feature using either the environment variable ROS_NAMESPACE or the argument __ns. As mentioned above, this can either be in Python, XML, or YAML. The final node is also from the turtlesim package, but a different executable: mimic. substitutions import LaunchConfiguration, PythonExpression. These use cases are being considered for remapping in ROS 2: This is the ability to apply remap rules to one node in a process without affecting the other nodes. Afterwards the reference operators are replaced with the matched content. The output of rosnode list is /rosout /turtlebot_teleop_keyboard arp ( Dec 4 '14 ) External logging may be configured using the --log-config-file option. The URL schemes rosservice:// and rostopic:// may only be given to topic or service name rules. 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. As an example, to assign a string value test to a parameter string_param for some_ros_executable, one may execute: As is, this parameter assignment applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. These files allow you to run multiple nodes with a single command. *bar looks like it would match foobar, but that would mean matching a partial token. When it is provided by a package, the syntax is: You learned about creating packages in Creating a package. This article describes ROS 2 nodes command line arguments and their syntax. From a launch file Here's a minimal ROS2 launch file which just launches one node with params from a YAML file. Its possible a user may want to change multiple instances of a basename to another token. Using Python, XML, and YAML for ROS 2 Launch Files, ros2 launch
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