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You can perform a workaround by putting the delayed node into an extra launch file and run it via timed_roslaunch. Explanation goes here.

In your case:

<launch>
<node name="talker" pkg="roscpp_tutorials" type="talker" />
<node pkg="timed_roslaunch" type="timed_roslaunch.sh" args="1 roscpp_tutorials my_listener.launch"
name="timed_roslaunch" output="screen" />
</launch>

Content of my_listener.launch

<launch>
<node name="listener" pkg="roscpp_tutorials" type="listener" />
</launch>

You can perform a workaround by putting the delayed node into an extra launch file and run it via timed_roslaunch. Explanation goes here.

In your case:

<launch>
<node name="talker" pkg="roscpp_tutorials" type="talker" />
<node pkg="timed_roslaunch" type="timed_roslaunch.sh" args="1 roscpp_tutorials my_listener.launch"
my_listener.launch" name="timed_roslaunch" output="screen" />
</launch>

Content of my_listener.launch

<launch>
<node name="listener" pkg="roscpp_tutorials" type="listener" />
</launch>

You can perform a workaround by putting the delayed node into an extra launch file and run it via timed_roslaunch. Explanation goes here. Script is available here.

In your case:

<launch>
<node name="talker" pkg="roscpp_tutorials" type="talker" />
<node pkg="timed_roslaunch" type="timed_roslaunch.sh" args="1 roscpp_tutorials my_listener.launch" name="timed_roslaunch" output="screen" />
</launch>

Content of my_listener.launch

<launch>
<node name="listener" pkg="roscpp_tutorials" type="listener" />
</launch>