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Launch file for UWSim problem. How do you write the node?

uwsim

asked 2015-07-23 20:20:46 -0600

jhoban
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The below code portion works to launch the default UWSim node, but how do you alter it to open any other scene?

 <!-- UWSim Node-->

  <node pkg="uwsim" type="uwsim" name="uwsim" />

ROS is not familiar territory for me, but I have worked through the turtlesim and have spent time poking at variations on --configfile /.../scene.xml

Any suggestions on how this works would be appreciated. I don't want to have to ditch this project.

Thanks. J

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answered 2015-07-24 05:24:29 -0600

Javier Perez

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Hi,

I usually use this code in my launch files:

<arg name="scene" default="cirs.xml" />
<node name="uwsim" pkg="uwsim" type="uwsim" args="--configfile $(arg scene)" output="screen" respawn="false" />

And launch it like this, using just the name of the scene (stored in uwsim/data/scenes):

roslaunch {package} {launchfile} scene:=shipwreck.xml

Hope it works.

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It worked.

Thankyou very much for the information.

jhoban ( 2015-07-24 19:28:10 -0600 )edit

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Asked: 2015-07-23 20:20:46 -0600

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Last updated: Jul 24 '15

Launch file for UWSim problem. How do you write the node? edit

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Launch file for UWSim problem. How do you write the node?