ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
You should be able to use something like roslaunch
to run your nodes in ROS 2 without making a file like manual_composition.cpp
each time. In the same demo is api_composition.cpp
which loads nodes dynamically from a ROS service call:
https://github.com/ros2/demos/blob/master/composition/src/api_composition.cpp
We'll have something similar to that, but exactly what and how it works is still under consideration. If you're interested see this design document:
https://github.com/ros2/design/pull/163
Which is still not finished yet, but already covers some of what you're asking about in the "calling conventions" section.
Also, see this which is a more "aspirational" demo of how node composition might work:
https://github.com/wjwwood/ros_cmake_auto_examples