How to pass an argument to roslaunch file from shell script?

asked 2015-06-11 04:39:52 -0500

lapadets
5 ●1 ●2 ●4

I have a shell script that takes some input from the user in the form of arguments and executes a launch file with some nodes. One of these nodes is a rosbag record. Currently, I have hardcoded the output directory for the recorded bag, but I'd like to parametrize this and let the user decide where to store the folder from the shell script.

I start the node like this at the moment:

<node pkg="rosbag" type="record" name="record" output="screen" args="-o /home/output/output_name -e /myTopic"/>

I cannot figure out how to to pass this args from a shell script. Any ideas? it should be possible...

answered 2015-06-11 05:46:11 -0500

130s

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updated 2015-06-11 10:14:17 -0500

Use arg element in launch syntax. http://wiki.ros.org/roslaunch/XML/arg

An example can look like:

rosbag_record.launch:

<launch>
  <arg name="hoge" default="fuga" />
  <node pkg="rosbag" type="record" name="record" output="screen" args="-o $(arg hoge) -e /myTopic"/>
</launch>

top_level.launch:

<launch>
  <arg name="hoge" default="fuga" />
  <include file="rosbag_record.launch">
    <arg name="hoge" value="$(arg hoge)" />
  </include>
</launch>

And you can run

roslaunch top_level.launch hoge:=my_value

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Comments

But do you need to have the <arg> in both launch files? So myScript.sh runstop_level.launch, which contains rosbag_record.launch. Or the <arg> tag is in the top_level, while the <node> tag is in the other launcher? or?

lapadets ( 2015-06-11 07:08:47 -0500 )edit

@lapadets sorry, my sample was completely wrong. Now it's corrected with the file structures you provided in addition.

130s ( 2015-06-11 10:13:33 -0500 )edit

Thanks! that's way more clear now!

lapadets ( 2015-06-11 11:08:58 -0500 )edit

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