As the rosrun command completes? [closed]
Hi! I have here in the launch file:
<launch>
<node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
</node>
<node pkg="hector_exploration_node" type="exploration_planner_node" name="hector_exploration_node" output="screen">
<rosparam file="$(find hector_exploration_node)/config/costmap.yaml" command="load"/>
</node>
<node pkg="hector_exploration_controller" type="simple_exploration_controller" name="hector_exploration_controller" output="screen" respawn="true">
<remap from="/cmd_vel" to="/mobile_base/commands/velocity"/>
</node>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>
</launch>
When I type in the various terminals:
$ rosrun hector_trajectory_server hector_trajectory_server
$ rosrun hector_geotiff geotiff_node
$ rosrun hector_exploration_node exploration_planner_node
$ rosrun hector_path_follower hector_path_follower_node
$ rosrun hector_exploration_controller simple_exploration_controller
Is it correct? Or is missing something? Thanks!
What is your point? Do you want to run each node in your launch file manually on terminal with
rosrun
?At the moment I run each node with rosrun, I would like to know if I type correct commands or something is missing. However, without repeating the steps in each terminal, I can run each node in a single step as you say?
If you will run each node one by one using
rosrun
, you need to set parameters at the same time. However,roslaunch
is used for this purpose. You can set parameters and launch nodes usingroslaunch
in single step. Maybe I missed your purpose.OK! So if I launch my file that I put on, do I not have to type all rosrun? Or I need I say more in launch file? Thank you so much!
You have 5 nodes run by rosrun but launch file has 2 of them if rest is not in include files (like geotiff_mapper.launch). You may need to add missing nodes to your launch file.
Ok! Thank you!