Writing a launch file

asked 2016-02-19 09:56:51 -0600

juls gravatar image

Hi everyone. I have created a node, which is a nodelet loader. I have also created a plugin, and a plugin analyzer class. I want to load my plugin to the nodelet, action which i perform with class_loader class inside the nodelet's source file. So my question is how to write a launch file which starts the nodelet loader, loads the nodelet and also reads as parameter the analyzer plugin yaml file. My launch file which fails which i wrote for doing the above has as follows:

<launch>
<node pkg="my_package" type="my_nodelet_loader_class" name="name" output="screen">
            <rosparam command="load" file="$(find my_package)/param/my_analyzer_file.yaml"/>
   </node>
</launch>

After debugging i've realized that the the nodelet loader starts, the analyzer plugin yaml file is read and the parameters are properly stored in the parameter server, but when the loader tries to load the nodelet plugin fails. So i might miss something in relation with the nodelet plugin definition inside the launch file. I also need to notice that the nodelet's .xml file, and the export tag in package manifest.xml are defined properly. Thank you in advance.

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