As the rosrun command completes?
Hi! I have here in the launch file:
<launch>
<node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
</node>
<node pkg="hector_exploration_node" type="exploration_planner_node" name="hector_exploration_node" output="screen">
<rosparam file="$(find hector_exploration_node)/config/costmap.yaml" command="load"/>
</node>
<node pkg="hector_exploration_controller" type="simple_exploration_controller" name="hector_exploration_controller" output="screen" respawn="true">
<remap from="/cmd_vel" to="/mobile_base/commands/velocity"/>
</node>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>
</launch>
When I type in the various terminals:
$ rosrun hector_trajectory_server hector_trajectory_server
$ rosrun hector_geotiff geotiff_node
$ rosrun hector_exploration_node exploration_planner_node
$ rosrun hector_path_follower hector_path_follower_node
$ rosrun hector_exploration_controller simple_exploration_controller
Is it correct? Or is missing something? Thanks!
Asked by papaclaudia on 2016-03-03 03:11:29 UTC
Comments
What is your point? Do you want to run each node in your launch file manually on terminal with
rosrun
?Asked by Akif on 2016-03-03 03:25:28 UTC
At the moment I run each node with rosrun, I would like to know if I type correct commands or something is missing. However, without repeating the steps in each terminal, I can run each node in a single step as you say?
Asked by papaclaudia on 2016-03-03 03:49:53 UTC
If you will run each node one by one using
rosrun
, you need to set parameters at the same time. However,roslaunch
is used for this purpose. You can set parameters and launch nodes usingroslaunch
in single step. Maybe I missed your purpose.Asked by Akif on 2016-03-03 05:04:14 UTC
OK! So if I launch my file that I put on, do I not have to type all rosrun? Or I need I say more in launch file? Thank you so much!
Asked by papaclaudia on 2016-03-03 05:18:29 UTC
You have 5 nodes run by rosrun but launch file has 2 of them if rest is not in include files (like geotiff_mapper.launch). You may need to add missing nodes to your launch file.
Asked by Akif on 2016-03-03 05:46:49 UTC
Ok! Thank you!
Asked by papaclaudia on 2016-03-03 06:31:28 UTC