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Repository Summary
| Checkout URI | https://github.com/rb-sapiens/launchfile_switcher.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-05-10 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| launchfile_switcher | 0.1.0 |
README
launchfile_switcher
ROS package for management launch files. This package provides features that easily switch launch files.
Building
Build as standard catkin packages. There are no special dependencies needed.
ROS API
launchfile_switcher
Subscribed Topics
- /mode (std_msgs/String)
This topic indicates the next mode name. Modes can be defined in a yaml file (an example is below).
config file example
- mode_list.yaml
mode_list:
normal:
launch:
- pkg: your_robot_package
file: /launch/your_robot_start.launch
args:
- name: mode
value: single_camera
- name: is_device
value: false
- pkg: your_navigation_package
file: /launch/your_navigation_start.launch
args:
- name: mode
value: single_camera
- name: explore
value: false
keeping_node_patterns:
- \/?explore.*
make_map:
launch:
- pkg: your_robot_package
file: /launch/your_robot_start.launch
args:
- name: mode
value: single_camera
- name: is_device
value: false
- pkg: your_navigation_package
file: /launch/your_navigation_start.launch
args:
- name: mode
value: single_camera
- name: explore
value: true
The example yaml config file above has two modes which equal to:
normal
<include file="$(find your_robot_package)/launch/your_robot_start.launch">
<arg name="mode" value="single_camera"/>
<arg name="is_device" value="false"/>
</include>
<include file="$(find your_navigation_package)/launch/your_navigation_start.launch">
<arg name="mode" value="single_camera"/>
<arg name="explore" value="false"/>
</include>
make_map
<include file="$(find your_robot_package)/launch/your_robot_start.launch">
<arg name="mode" value="single_camera"/>
<arg name="is_device" value="false"/>
</include>
<include file="$(find your_navigation_package)/launch/your_navigation_start.launch">
<arg name="mode" value="single_camera"/>
<arg name="explore" value="true"/>
</include>
launch
An array of launchfiles to launch. It consists of pkg, file, args.
- pkg: The package name that contains the file to start
- file: Relative path of the launch file to start
- args: Arrays of arguments of the launch file to start
keeping_node_patterns
An array of node name regular expressions to keep when switching launchfiles.
Default keeping node patterns
- \/?rosout
- \/?rviz.*
- \/?robomaker\/srv
- \/?gazebo
Switch launch files
You can switch launchfile sending mode name topic.
rostopic pub -r 10 /mode std_msgs/String 'make_map'
will kill all existing nodes and launch the file below:
<include file="$(find your_robot_package)/launch/your_robot_start.launch">
<arg name="mode" value="single_camera"/>
<arg name="is_device" value="false"/>
</include>
<include file="$(find your_navigation_package)/launch/your_navigation_start.launch">
<arg name="mode" value="single_camera"/>
<arg name="explore" value="true"/>
</include>
launch file sample
<node pkg="launchfile_switcher" type="launchfile_switcher" name="launchfile_switcher" output="screen">
<rosparam file="$(find your_package)/config/mode_list.yaml" command="load" />
</node>
CONTRIBUTING
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