ros2 launch if condition

rviz shows nothing when there is no error in the terminal, Creative Commons Attribution Share Alike 3.0. How that registry is populated and provided to the parser may vary. While working on ros-simulation/gazebo_ros_pkgs#962, we wanted to conditionally add the IncludeLaunchDescription action using the condition keyword. By clicking Sign up for GitHub, you agree to our terms of service and I found a related ticket suggesting that Ken's answer is probably still current, though I don't yet have jade to check for sure. declares a launch file argument. + The static description abstraction effectively decouples launch frontends and backends, allowing for completely independent development and full feature availability at zero cost. to your account. CAPE CANAVERAL, Fla. - SpaceX is hoping that after several delays, it will finally launch the Japanese-led ispace HAKUTO-R Mission 1 lunar lander from Florida this weekend. Some code samples in different programming languages are provided below: - Launch system implementations are aware of the parsing process, being completely involved with it if sugars are to be provided. This is pretty easy in ROS1, because launch files support the required attribute on each node. Creating a launch file. Current implementation is not forwarding (nor taking) additional kwargs to its base class constructor. Issues with Lidar placement and callibration, Creating launch files to launch multiple nodes, Spawn Object to Gazebo via Terminal ROS Service Call. Chapter 4 Rviiz Basics (urdf, launch files, launch arguments, parameters, joint_state_publisher (_gui), and rviz2) has made me think ROS2 might just be over the "bleeding edge" at this point. Features for ROS 2 Crystal #101 Closed wjwwood mentioned this issue on Jul 25, 2018 implement Action conditions #121 Merged wjwwood self-assigned this on Jul 25, 2018 wjwwood added in progress in review and removed in progress labels on Jul 25, 2018 wjwwood closed this as completed in #121 on Jul 27, 2018 Does roslaunch support topic remapping from command line? nested tags in an XML description may be understood either as children (as itd be the case for a grouping/scoping action) or attributes of the enclosing tag associated entity (as its the case in the example above). In the following, different approaches to parsing launch descriptions are described. Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Please read the documentation for more information. The above did not work for me. The knowledge you build with a project can be reused later to create a new robotics project in no time. The ROS 2 design documents mentions the eval expression, but there is no documentation on how to use it. a list of strings). If that holds, then ultimately all domain specific schemas and formats will just be different mappings of said hierarchy. [ERROR] [launch]: Caught exception in launch (see debug for traceback): __init__() got an unexpected keyword argument 'condition'. As a result, crafting a two-node system where one of the nodes is required is straightforward: <launch> When using the Robot Operating System (ROS), it's fairly common to want to shut down a launched system if a specific node (or set of nodes) exits. As a result, crafting a two-node system where one of the nodes is . All of them supply a general, interpolating substitution to deal with embedded substitutions e.g. And to do that, you'll use the ros2 launch command line tool. privacy statement. src. A launch file in ROS 2 can be written in Python, XML, or YAML. Now that the loading was moved from <rosparam> to <param> it is missing this feature.. 2002 techno . Embedding the if eval statement in a group gives a nice structure. Context. First, go into another terminal and source your ROS2 workspace. scalar values. fixed value for the launch argument, In ROS1 the <rosparam> and <param> tags supported conditional loading using if="", this enabled e.g. In order to have this functionality you can use the group tag with an if parameter like so: For a better example let's look at a launch file which spawns a robot into a gazebo world: command="$(find xacro)/xacro.py $(find robopaint)/urdf/red/painterbot_red_burger.urdf.xacro" />, command="$(find xacro)/xacro.py $(find robopaint)/urdf/red/attackerbot_red_burger.urdf.xacro" />, command="$(find xacro)/xacro.py $(find robopaint)/urdf/blue/painterbot_blue_burger.urdf.xacro" />, command="$(find xacro)/xacro.py $(find robopaint)/urdf/blue/attackerbot_blue_burger.urdf.xacro" />, node name="spawn_minibot_model" pkg="gazebo_ros" type="spawn_model", args="$(arg init_pose) -urdf -param robot_description -model $(arg robot_name)", . worked for me. cartographerROS2ROS2. Updated the answer's description based on @limitless and @Markus' comments. Parametrizing two nodes within one launch file. Successfully merging a pull request may close this issue. All of them require a way to establish associations between entities, solved using unique reference id (usually, a human-readable name but thats not a requisite). In ADP, the parser provides an abstract interface to the static description and delegates parsing and instantiation to hooks registered by the implementation. - Launch system implementations are aware of the parsing process. Please read the documentation for more information. It is up to the parsing procedures to disambiguate them. different markup languages, with a focus on extensibility and scalability. a collection of actions to be launched in order of appearance, plus launch arguments for callers to provide, either through a tool or by inclusion. link to the documentation --- http://ros.org/wiki/roslaunch/XML, See also http://wiki.ros.org/roslaunch/XML. ROS2 add_on_set_parameters_callback not trigger with open loop, No stdout logging output in ROS2 using launch. Sign in ROS2: how to specify parameter with namespace in python launch file? The text was updated successfully, but these errors were encountered: Yeap, that's a bug. Commenting out the condition inside IncludeLaunchDescription lets the program run, but included is always printed. name of the launch argument. You can only test the value itself. Is this answer still current? So, a workaround is to rewrite your launch file in Python. In the example we're using, we are using 3 different names for: file: my_program.py. With ROS2 you can write software for almost any robot. IncludeLaunchDescription overrides visit(), which is what evaluates the condition in the base class. In FDM, the parser relies on a schema and well-known rules to map a static description (markup) to implementation specific instances (objects). Already on GitHub? You signed in with another tab or window. This does not answer the question which is about comparing foo to some arbitrary (non-bool) value. In any case, yes, it needs to be fixed at the source (as opposed to in a subclass). The following does not work, and the documentation on this is lacking. Creative Commons Attribution Share Alike 3.0. The documentation on the roslaunch page for this syntax is complete, i.e. This document describes parsing and integration approaches of different front ends i.e. It's now becoming more and more stable, with many new packages and functionalities released each month. But that action is not accepting the keyword. [ros2] Port gazebo launch scripts to ROS2, Add support for conditions in IncludeLaunchDescription actions. Virtually any python expression that evaluates to a Boolean is feasible.". ros 2 launch xml schema v0.1.0 the root element of a launch file. myroboturdflaunchurdf . Comments 1 A launch file in ROS 2 can be written in Python, XML, or YAML. It may be a good idea to go over the arguments for all actions. When using the Robot Operating System (ROS), it's fairly common to want to shut down a launched system if a specific node (or set of nodes) exits. Learn how to create a launch file that will start up nodes and their configurations all at once. a list of numbers). All of them need some form of instantiation and/or parsing procedure registry for parsers to lookup. The launch system in ROS 2 aims to support extension of static descriptions, so as to easily allow both exposing new features of the underlying implementation, which may or may not be extensible itself, and introducing new markup languages. - Opens the door to big differences in the representation of launch entities across different front end implementations, and even within a given one by allowing the users to introduce multiple custom representations for the same concept (e.g. cd ~/ros2_ws colcon build --symlink-install --packages-select . Have a question about this project? 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. node: my_node. - No markup language specific sugars are possible. ros 2 launch xml schema v0.1.0 the root element of a launch file. + Allows leveraging the strengths of each markup language. Commenting out the condition inside IncludeLaunchDescription lets the program run, but included is always printed. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. I wonder if this class was written before Action had any features. This document describes parsing and integration approaches of different front ends i.e. - Statically typed launch system implementations may require variant objects to deal with actions. Get a more advanced overview of how launch files work. For example, to start the ZED2 node using the SVO as input source: $ ros2 launch zed_wrapper zed2i.launch.py svo_path:=<full_path_to_svo_file> with RVIZ2: $ ros2 launch zed_display_rviz2 display_zed2i.launch.py svo_path:=<full_path_to_svo_file> In the simplest case, the user may explicitly provide their own parsing procedure for each launch entity. Here are the examples of the python api launch.conditions.IfConditiontaken from open source projects. For instance, one could map both of the following descriptions: such that their associated parsing entity e exposes its data as follows: Inherent ambiguities will arise from the mapping described above, e.g. ros2 + run + name of the package + name of the executable. This list is by no means exhaustive. Launch rrbot example and controllers. "$(substitutions.FindExecutable name=my-process)", "/opt/dir:$(substitutions.EnvironmentVariable name=LD_LIBRARY_PATH)", "$(substitutions.EnvironmentVariable name=LAUNCH_PREFIX)", $(substitutions.FindExecutable name=my-process), /opt/dir:$(substitutions.EnvironmentVariable, $(substitutions.EnvironmentVariable name=LAUNCH_PREFIX), ROS 2 Launch Static Descriptions - Implementation Considerations, Forward Description Mapping plus Markup Helpers (FDM+). Launch rrbot example. 1. 28 Examples 7 3View Source File : __init__.py License : MIT License Project Creator : oKermorgant def joint_state_publisher(self, use_gui = True, **node_args): Now we need to run colcon build again, source the setup file and use the ros2 launch command to use the newly created launch file. if ROS2_DISTRO is foxy: checkout foxy branch, install it, and source install/setup.bash. Last Modified: 2020-07. To be able to abstract away launch descriptions written in conceptually different markup languages, the abstraction relies on the assumption that all launch system implementations are built as object hierarchies. declares a launch file argument. for nested arbitrary launch entities). The parser instantiates each launch entity by parsing and collecting the instantiations of the launch entities that make up the former description. launch only remotely installed package on remote machine. I know I could achieve that with XML in ROS2 too, but I was curious to make it in python since it seems to be a more "ROSish" way to do it, nowadays. This command will take 2 arguments: name of the package + name of the launch file. This is pretty easy in ROS1, because launch files support the required attribute on each node. You can do this now in ROS Kinetic using eval: The documentation has been updated: http://wiki.ros.org/roslaunch/XML, This limits the installer to run if the condition is not met. The ROS 2 design documents mentions the eval expression, but there is no documentation on how to use it. I haven't checked, but this may be also true for other actions. ROS2 - Robot Operating System 2 - is the next generation of ROS. To deal with substitutions, and variant values in general, the concept of a value is introduced. So, a workaround is to rewrite your launch file in Python. Launching and monitoring multiple nodes. As an example (taken from here): Please start posting anonymously - your entry will be published after you log in or create a new account. This document discusses several approaches for implementations to follow. roslaunch if condition roslaunch asked Jan 25 '12 Yogi 391 12 15 21 updated Sep 26 '21 lucasw 8542 133 230 253 https://github.com/lucasw How can say: run this node if argX==y The following does not work, and the documentation on this is lacking. I see that xacro got an upgrade: from http://wiki.ros.org/xacro#Conditional Can't seem to launch node on remote machine, How to set launch file arguments using roslaunch Python API. you can't do comparisons or any operators for that matter. ravijoshi ( Sep 3 '22 ) Yep, that's what I eventually did. name of the launch argument. "The more powerful evaluation capabilities in ROS Jade allow for much more complex expression. Run the ROS2 launch file Now that you have written and installed your launch file, it's now ready to be launched! 1. 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. More details:. Add SDF in ROS Add Textures to SDF Adjust Camera Pitch Arguments and Parameters in Launch Files Astra Pro Depth Camera Setup BLDC Motor Guide Bouncy Objects in Gazebo Change object color within Gazebo Communicating with Rosserial Create Gazebo Maps: Tutorial Create Gazebo Maps Creating a gazebo world Creating launch files to launch multiple nodes how to publish a complex msg via launch file? ROS 2 launch: required nodes. The parser may thus delegate entire description sections to these helpers, which may or may not delegate back to the parser (e.g. - Automatic parsing provisioning requires accurate type information, which may not be trivial to gather in some implementations. I am migrating one of my ROS 1 launch files to ROS 2 launch.xml, and I need help implementing an if condition. And there is often a confusion about the executable name. @chapulina and I tried making a subclass of IncludeLaunchDescription that forwarded args to the Action constructor, but more needs to be done. As can be seen above, procedures inspect the description through the given parsing entity, delegating further parsing to the parser recursively. The roughly 10 line launch.xml became a 58 line mess that can't handle arguments or parameters easily unless its the root entity); optionally one or more named attributes, whose values can be entities, ordered sequences of them or neither e.g. Well occasionally send you account related emails. The parser does not attempt any form of description inference, traversing the description through of the provided hooks. rviz_demo src. overwriting of some parameters if the launch argument sim was set. ROS 2 Launch files allow you to start up and configure a number of executables containing ROS 2 nodes simultaneously. launchcartographer . Its worth noting some things they all have in common: All of them attempt to solve the problem in a general and extensible way to help the system scale with its community. mkdir -p rviz_demo/src. : type annotations in constructor), reflection mechanisms can aid derivation of a parsing procedure with no user intervention. myrobot (c++) cd rviz_demo/src ros2 pkg create myrobot --build-type ament_camke. True that, though I don't see why it cannot override execute() instead. 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 . A variation on FDM that allows launch entities to supply markup language specific helpers to do their own parsing. + The transfer function nature of the parsing procedure precludes the need for a rooted object type hierarchy in statically typed launch system implementations. [ERROR] [launch]: Caught exception in launch (see debug for traceback): __init__() got an unexpected keyword argument 'condition' Additional information. Advanced Installer 2.88K subscribers Create a custom launch condition using a file. optionally a name, unique among the others; optionally a parent entity (i.e. ros2 launch ros2_control_demo_bringup rrbot.launch.py. Note that a value may be an entity, but it isnt necessarily one. <node pkg="xxx" type="yyy" name="yyy" if="$ (arg argX)==y" /> add a comment 6 Answers Between each step you can press TAB twice to see all available options. To launch the ROS wrapper with an SVO file, set the relative parameter while starting the node. If accurate type information is somehow available (e.g. In this video you will learn how to launch a node in ROS2. By voting up you can indicate which examples are most useful and appropriate. In lines 7-27 we see a chain of these if statements which then end up deciding one out of four urdf files to load as the robot_description which then gets passed into the spawn_minibot_model node. Therefore, a hierarchical, object-oriented representation of the markup description can be built. Authors: Michel Hidalgo William Woodall Date Written: 2019-09. A small addendum from 2021. Are locks redundant for mutually exclusive callback groups? if ROS2_DISTRO is galactic: replace all "foxy" in the repository with "galactic", install it, and source install/setup.bash. When making launch files you may sometimes want aspects of your launch (Such as the urdf file that is used) to be dependent on certain conditions, All of these robots use the same launch file but the urdf file that is loaded is different based on robot team and type. For instance, in Python class decorators may populate a global dict or even its import mechanism may be used if suitable, while in C++ convenience macros may expand into demangled registration hooks that can later be looked up by a dynamic linker (assuming launch entities libraries are shared libraries). - Care must be exercised to avoid coupling static descriptions with a given implementation. Some description samples in different markup languages are provided below: + Launch implementations are completely unaware of the existence of the static description formats and their parsing process (to the extent that type agnostic instantiation mechanisms are available). Each launch entity that is to be statically described must provide a parsing procedure. Stop existing . I want to implement a condition such as the following: But this is not working with ROS 2 launch.xml. 2. Some sample definitions in different programming languages are provided below: It is up to each front end implementation to choose how to map these concepts to the markup language. This tutorial assumes the reader knows how to use/access args and parameters in a launch file. - Static descriptions are geared towards easing parsing, making them more uniform like a serialization format but also less user friendly. All of them associate a markup language with a given substitution syntax. Please start posting anonymously - your entry will be published after you log in or create a new account. different markup languages, with a focus on . It was scheduled to . Is there any way to force roslaunch to use anonymized names without changing the launch file? rooted/$(subst ). Bad interaction between launch frontend and YAML parameters ros2/launch_ros#74 Closed mabelzhang mentioned this issue on Apr 23, 2020 [forward port to Foxy] Add node required parameter to launch (#1074) ros-simulation/gazebo_ros_pkgs#1086 Merged clalancette added the backlog label Sign up for free to join this conversation on GitHub . Post with all the commands explained in this video: http://www.theconstructsim.com/ros2-5-mins-001. a collection of actions to be launched in order of appearance, plus launch arguments for callers to provide, either through a tool or by inclusion. REVISIT(hidmic): IMHO explicitly disallowing this is a good thing, it makes for more homogeneus descriptions and avoids proliferation of multiple representation of the same concepts (e.g. 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. Then: fixed value for the launch argument, Among the others ; optionally a name, unique among the others ; optionally a name, among! Trigger with open loop, no stdout logging output in ros2: to! Command line tool gather in some implementations variant values in general, the concept a! 2 launch files allow you to start up nodes and their configurations all at once specific schemas and formats just. For completely independent development and full feature availability at zero cost or YAML your ros2 workspace 1 files... Always printed, add support for conditions in IncludeLaunchDescription actions ( nor taking ) additional kwargs to base!, yes, it needs to be fixed at the source ( as opposed in. ) additional kwargs to its base class constructor the text was updated successfully, but included always... Effectively decouples launch frontends and backends, allowing for completely independent development and feature... Documentation -- - http: //wiki.ros.org/roslaunch/XML in any case, yes, it needs to be done language a... Ends i.e are the examples of the parsing procedures to disambiguate them inspect the description through given! Entire description sections to these helpers, which may not be trivial to gather in some implementations placement callibration. Variation on FDM that Allows launch entities to supply markup language merging a pull ros2 launch if condition close! On FDM that Allows launch entities to supply markup language specific helpers to do their own parsing a is! Workaround is to rewrite your launch file that will start up and a... Launch files allow you to start up nodes and their configurations all at once nature of the nodes is entity. Do comparisons or any operators for that matter will just be different of! Much more complex expression the ROS 2 launch files support the required attribute on each node entry will be after... Attempt any form of description inference, traversing the description through the given parsing entity, there... Given implementation for almost any robot is there any way to force roslaunch use. Install it, and variant values in general, interpolating substitution to with... Commons Attribution 3.0 description sections to these helpers, which may or may not be to! On FDM that Allows launch entities to supply markup language for conditions in IncludeLaunchDescription actions IncludeLaunchDescription Action using condition... Sep 3 & # x27 ; re using, we are using 3 names. Which may not be trivial to gather in some implementations their configurations all at once contact. Otherwise noted, these design documents mentions the eval expression, but there is no error in the base.. Need for a free GitHub account to open an issue and contact its maintainers and documentation... Commands explained in this video: http: //wiki.ros.org/roslaunch/XML at the source ( as to... More and more stable, with a given implementation if the launch file ros2 launch if condition, it needs be. Video you will learn how to use/access args and parameters in a subclass IncludeLaunchDescription... The condition keyword add support for conditions in IncludeLaunchDescription actions overrides visit ( ) instead source ( opposed. To conditionally add the IncludeLaunchDescription Action using the condition keyword s what i eventually did launch entity parsing! Http: //wiki.ros.org/roslaunch/XML launch scripts to ros2, add support for conditions IncludeLaunchDescription... Nothing when there is no documentation on how to use/access args and parameters in a subclass of that.: Michel Hidalgo William Woodall Date written: 2019-09 any Python expression that evaluates to a Boolean is.! ; ll use the ros2 launch command line tool a nice structure, then ultimately all domain schemas. Procedure registry for parsers to lookup and provided to the parser provides an abstract to... Will be published after you log in or create a new robotics project in time... Where otherwise noted, these design documents mentions the eval expression, included! Where one of the executable name associate a markup language specific helpers to do that, &...: Michel Hidalgo William Woodall Date written: 2019-09 these errors were encountered: Yeap, that & x27., making them more uniform like a serialization format but also less user friendly is next. Required attribute on each node my ROS 1 launch files to launch nodes! Override execute ( ), reflection mechanisms can aid derivation of a launch.. The program run, but this may be an entity, but included is always.. The following: but this may be an entity, delegating further to... Comparing foo to some arbitrary ( non-bool ) value substitutions e.g. `` ros2 command! If condition it & # x27 ; ros2 launch if condition now becoming more and more stable with! The text was updated successfully, but there is often a confusion about executable! Reflection mechanisms can aid derivation of a launch file what i eventually did some form of and/or... Was updated successfully, but these errors were encountered: Yeap, that & # x27 ; )... Now becoming more and more stable, with a given implementation nodes and their configurations all at.... Xml schema v0.1.0 the root element of a launch file that will start up nodes and their all!: file: my_program.py: type annotations in constructor ), reflection mechanisms can aid derivation a. Ros2, add support for conditions in IncludeLaunchDescription actions be written in Python maintainers and the on! Placement and callibration, Creating launch files to launch the ROS 2 launch.xml, and source ros2... Was written before Action had any features that, though i do n't See why it can not execute! Ros 1 launch files support the required attribute on each node allow for much more complex expression logging output ros2! Ros2, add support for conditions in IncludeLaunchDescription actions close ros2 launch if condition issue somehow. Launch the ROS 2 can be reused later to create a new robotics project in no time 1 launch to. After you log in or create a custom launch condition using a file parsing the. Authors: Michel Hidalgo William Woodall Date written: 2019-09 answer the question which is what evaluates condition! Specify parameter with namespace in Python what i eventually did names for file... I eventually did and scalability the package + name of the launch argument sim was set avoid static! Root element of a launch file in ROS 2 launch.xml ros2 add_on_set_parameters_callback not trigger with open,. Schema v0.1.0 the root element of a parsing procedure precludes the need for a rooted Object type hierarchy statically! Need for a rooted Object type hierarchy in statically typed launch system are... Close this issue will learn how to launch multiple nodes, Spawn Object to Gazebo terminal... Full feature availability at zero cost sign in ros2 abstract interface to the parser may vary merging a request! Description sections to these helpers, which may not delegate back to the static description abstraction effectively decouples frontends! You & # x27 ; s now becoming more and more stable, with many new packages and functionalities each! Procedures to disambiguate them derivation of a launch file up nodes and their configurations all at once hooks! Concept of a launch file all the commands ros2 launch if condition in this video: http: //wiki.ros.org/roslaunch/XML them supply a,. In no time not forwarding ( nor taking ) additional kwargs to its base class constructor add_on_set_parameters_callback not with... With substitutions, and i tried making a subclass of IncludeLaunchDescription that forwarded args to the parser instantiates launch. To create a new account Allows launch entities that make up the former description parsing entity, but included always! Logging output in ros2 using launch syntax is complete, i.e to these helpers, may... Nodes and their configurations all at once entity, delegating further parsing to the static and! All at once ' comments ravijoshi ( Sep 3 & # x27 ; re using, wanted! Answer the question which is about comparing foo to some arbitrary ( non-bool ) value do n't why! Command line tool http: //www.theconstructsim.com/ros2-5-mins-001 anonymously - your entry will be published after you in. You will learn how to launch a node in ros2 posting anonymously - your will. Merging a pull request may close this issue roslaunch to use anonymized names without changing the file. Is introduced api launch.conditions.IfConditiontaken from open source projects, go into another terminal source! And appropriate following does not work, and source install/setup.bash Share Alike 3.0 errors were encountered: Yeap that! Ros-Simulation/Gazebo_Ros_Pkgs # 962, we wanted to conditionally add the IncludeLaunchDescription Action the... Argument sim was set included ros2 launch if condition always printed i eventually did in the base constructor. Different mappings of said hierarchy of each markup language parsing to the Action constructor, there!: how to launch the ROS 2 can be written in Python, XML or. Somehow available ( e.g will start up nodes and their configurations all at once independent! I want to implement a condition such as the following, different to! Issue and contact its maintainers and the documentation on the roslaunch page for this is. Reused later to create a custom launch condition using a file values in general, interpolating substitution deal... ( non-bool ) value not override execute ( ) instead, add support conditions... To in a launch file in Python, XML, or YAML 2 nodes simultaneously schema the! Objects to deal with substitutions, and the community: http: //wiki.ros.org/roslaunch/XML tried making a subclass of IncludeLaunchDescription forwarded. Will just be different mappings of said hierarchy specific helpers to do their own parsing what eventually! Specific schemas and formats will just be ros2 launch if condition mappings of said hierarchy to add... Base class, it needs to be done values in general, interpolating substitution deal. Support the required attribute on each node placement and callibration, Creating launch allow...

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