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roslaunch for ros 2 composition packages

asked 2018-03-06 00:28:37 -0600

Skyking gravatar image

I was going trough the composition packages in ROS 2 which I found to be similar to the ros nodelets concepts.In ROS 1 we use launch files to start a particular nodelet.Will there be similar concept for future ROS 2 releases? Or should we create a seperate executable like the manual_composition.cpp file for every components we have created in ROS 2 ??

Thanks for your help.

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answered 2018-03-06 13:50:27 -0600

William gravatar image

You should be able to use something like roslaunch to run your nodes in ROS 2 without making a file like manual_composition.cpp each time. In the same demo is api_composition.cpp which loads nodes dynamically from a ROS service call:

https://github.com/ros2/demos/blob/ma...

We'll have something similar to that, but exactly what and how it works is still under consideration. If you're interested see this design document:

https://github.com/ros2/design/pull/163

Which is still not finished yet, but already covers some of what you're asking about in the "calling conventions" section.

Also, see this which is a more "aspirational" demo of how node composition might work:

https://github.com/wjwwood/ros_cmake_...

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Asked: 2018-03-06 00:28:37 -0600

Seen: 191 times

Last updated: Mar 06 '18