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Maybe there's better solution, but I can give some advice in case you need this in a hurry.

I'll write two launch files, one for environment and related objects(let's call it A.launch), and the other for the fetch and carry node(this one, B.launch).

In a single test, first roslaunch A.launch, then you can roslaunch B.launch and check your work.

After a single test, kill this two process.Then you can start another test by roslaunch A.launch and B.launch again.

I am not sure what the purpose is.If you want to do the iteration hundred or thousand of times because you want to test the robustness of your node, the method proposed above probably won't satisfy tour need(You'll need to write some scripts to roslaunch the launch files and check if your node work correctly). But if you want to do the iteration again quickly for testing the function of the fetch and carry node while in development stage, this method is quite enough.

Maybe there's better solution, but I can give some advice in case you need this in a hurry.

I'll write two launch files, one for environment and related objects(let's call it A.launch), and the other for the fetch and carry node(this one, B.launch).

In a single test, first roslaunch A.launch, then you can roslaunch B.launch and check your work.

After a single test, kill this these two process.Then processes.Then you can start another test over by roslaunch A.launch and B.launch again.

I am not sure what the purpose is.If you want to do the iteration hundred or thousand of times because you want due to the needs to test the robustness of your node, the method proposed above probably won't satisfy tour need(You'll need to write some scripts to roslaunch the launch files and check if your node work works correctly). But if you want to do the iteration again quickly for testing the function of the fetch and carry node while in development stage, this method is quite enough.adequate.