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How to configure a roslaunch xml to run a node that specifies a path?

asked 2018-05-30 18:15:02 -0500

lyph
3 ●1 ●1 ●4

updated 2018-05-30 18:28:48 -0500

I'm trying to run

rosrun ORB_SLAM2 RGBD PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

within a .launch file and I don't know how to specify the path

I tried something like the following but it didn't run.

<node pkg= "ORB_SLAM2" type= "RGBD" args= "<path1> <path2>">

My example:

<launch>
    <include file="/home/mesa/catkin_ws/src/mavros/mavros/launch/px4.launch"/>
    <include file="/opt/ros/kinetic/share/freenect_launch/launch/freenect.launch"/> 
    <node pkg= "ORB_SLAM2" type= "RGBD" args= "/home/mesa/cavedrone/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/mesa/cavedrone/ORB_SLAM2/tcp_rgbd/bin/kinect.yaml" >

</launch>

The error I get

Invalid roslaunch XML syntax: mismatched tag: line 6, column 2

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Comments

Something like that should work. Please edit your question to include the exact launch file and the error message that you get when you try to run it.

ahendrix ( 2018-05-30 18:22:07 -0500 )edit

Okay, updated

lyph ( 2018-05-30 18:28:49 -0500 )edit

1 Answer

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answered 2018-05-30 19:01:13 -0500

jayess
6155 ●26 ●85 ●92

updated 2018-05-30 19:01:39 -0500

The error tells you the problem

Invalid roslaunch XML syntax: mismatched tag: line 6, column 2

Take a look at your node tag, it's missing the / at the end. Change it to

<node pkg= "ORB_SLAM2" type= "RGBD" args= "/home/mesa/cavedrone/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/mesa/cavedrone/ORB_SLAM2/tcp_rgbd/bin/kinect.yaml" />

Note how I added the / at the end of the node tag.

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Comments

Thank you! Also as a note for others I needed to add a name so I had something like name = "foo" into the line for the launch file to run.

lyph ( 2018-05-30 19:16:02 -0500 )edit

Np. Please click on the checkmark to mark the answer as correct.

jayess ( 2018-05-30 19:21:44 -0500 )edit

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Asked: 2018-05-30 18:14:35 -0500

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Last updated: May 30 '18

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