How can I remap enitre roslaunch file?

asked 2015-09-03 08:04:08 -0500

tal_eldar
33 ●2 ●4 ●5

Hello,

I have 2 real turtlebots (for now.. I'll have more in the near future) and I want them to run on one ros-master, since they have identical topics if I launch in one turtlebot the other get it also. for example if I launch turtlebot_bringup minimal.launch in one and afterwards in the other it will shutdown the first and open in the last. since that I've thought to create groups and remap the topics but since all the topics are the same it seems like allot of work.

can I remap entire launch file without remapping every topic one by one?

answered 2015-09-03 08:13:15 -0500

dornhege

31395 ●134 ●284 ●498

You should be able to just export ROS_NAMESPACE to the namespace you want and launch the same file.

It might also be possible to nest the whole roslaunch in one more group, but I'm not sure how well that deals with nesting.

The main thing to look out for is that all nodes/launch parts are written properly to support nesting, i.e., not topics with / when not needed, etc.

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damned, you were faster ;-)

cyborg-x1 ( 2015-09-03 08:18:24 -0500 )edit

For multiple turtlebots he you should probably check out http://wiki.ros.org/turtlebot_concert... (because of the APP stuff and so on ...)

cyborg-x1 ( 2015-09-03 08:56:51 -0500 )edit

Hi, thanks for the fast response! I'm new in ROS and the tutorials I've encountered so far regarded nodes, can you give me an example? I'm lauching allot of topics with: roslaunch turtlebot_bringup minimal.launch how can remap this argument? and concert is no solution for me (joint computer issues)

tal_eldar ( 2015-09-04 03:55:26 -0500 )edit

I was finally able to test the answer and it is working fine with exporting ROS_NAMESPACE before launching the launch file, is there a way to permanently set the ROS_NAMESPACE?

tal_eldar ( 2015-09-08 07:22:09 -0500 )edit

You could put that into your .bashrc. However setting that permanently is usually unnecessary as then you could also just not set it. It is mostly an advantage if you want to start launches in multiple different namespaces.

dornhege ( 2015-09-08 08:13:41 -0500 )edit

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