How to launch rosbag play from command line with remapaping specified in xml? [closed]
Existing file rb.launch
invokes rosbag play
as follows:
cat rb.launch:
<launch>
<arg name="bagfile" default="" />
<arg name="s" default="0"/>
<node name="$(anon rosbag)" pkg="rosbag" type="play" args="--clock --pause -s $(arg s) $(arg bagfile)" output="screen" >
<remap from="/a/b" to="/x/a/b" />
<remap from="/p/q" to="/x/p/q" />
</node>
</launch>
Would like to factor out the remapping of topics in file rb.launch
into file myremap.xml
, and use this xml
file as command line input to rosbag play
cat myremap.xml:
<remap from="/a/b" to="/x/a/b" />
<remap from="/p/q" to="/x/p/q" />
Create rb_new.launch
to replace rb.launch
:
cat rb_new.lauanch:
<launch>
<arg name="bagfile" default="" />
<arg name="s" default="0"/>
<node name="$(anon rosbag)" pkg="rosbag" type="play" args="--clock --pause -s $(arg s) $(arg bagfile)" output="screen" >
<include file="$(find the_proj)/remapper/myremap,xml"/>
</node>
</launch>
Questions:
1) Is the above syntax correct for rb_new.launch
to replace rb.launch
?
2) What's the syntax for the command line use of myremap.xml
?:
***Incorrect*:** roslaunch pkg:rosbag type:=play args:="--clock --pause -s <s_valaue> <bagfile_value>" include:=`catkin locate the_proj`/remapper/myremap,xml