How can I have different terminals for different nodes using roslaunch?

asked 2017-07-24 07:28:36 -0500

Hello to all,

I know that there other similar questions like that but nothing worked for me.

So lets' start with the configuration.

I have rPi3, running Raspbian Jessie and ROS Kinetic.

In my launch file, I start 2 nodes.

First I discovered that the launch-prefix is different in my case. So instead of using xterm I needed lxterminal, which is OK.

When I tried a file like the following:

<launch>
    <node name="hardware_interface_1" pkg="innoclimber_base" type="hardware_interface_node.py" args="boardA" output="screen" launch-prefix="lxterminal -e">
        <rosparam file="$(find innoclimber_base)/config/arduino_parameters.yaml" command="load" />
    </node>
    <node name="hardware_interface_2" pkg="innoclimber_base" type="hardware_interface_node.py" args="boardB" output="screen" launch-prefix="lxterminal -e">
        <rosparam file="$(find innoclimber_base)/config/arduino_parameters.yaml" command="load" />
    </node>
</launch>

I was able to see the 2 windows to pop-up blank and then immediately close and the program die.

I tried some flags in like hold, so the command became launch-prefix="lxterminal -e -hold" which I could hold the terminals opened but again blank and my program again died.

Has anybody has this kind of experience? Maybe it has to do with python or...not

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Comments

1

What other answers have you tried that didn't work? Please include links to them so we know what doesn't work.

jayess gravatar image jayess  ( 2017-07-24 10:58:52 -0500 )edit
angelos.p gravatar image angelos.p  ( 2017-07-24 14:04:25 -0500 )edit

It may be a little late but I found your question and I was able to make something similar using terminator with launch-prefix="terminator -x python"

Accacio gravatar image Accacio  ( 2018-07-17 04:34:10 -0500 )edit