As the rosrun command completes? [closed]

asked 2016-03-03 02:11:29 -0500

papaclaudia gravatar image

updated 2016-03-03 02:13:40 -0500

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!

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Closed for the following reason the question is answered, right answer was accepted by Akif
close date 2016-03-03 05:49:43.635362

Comments

What is your point? Do you want to run each node in your launch file manually on terminal with rosrun?

Akif gravatar imageAkif ( 2016-03-03 02:25:28 -0500 )edit

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?

papaclaudia gravatar imagepapaclaudia ( 2016-03-03 02:49:53 -0500 )edit

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 using roslaunch in single step. Maybe I missed your purpose.

Akif gravatar imageAkif ( 2016-03-03 04:04:14 -0500 )edit

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!

papaclaudia gravatar imagepapaclaudia ( 2016-03-03 04:18:29 -0500 )edit

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.

Akif gravatar imageAkif ( 2016-03-03 04:46:49 -0500 )edit

Ok! Thank you!

papaclaudia gravatar imagepapaclaudia ( 2016-03-03 05:31:28 -0500 )edit