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How to launch a node with it's dependencies have started

asked 2018-08-21 09:49:01 -0500

itfanr gravatar image

I have 5 launch file. Some node must start when some nodes have started , or they cannot work.

If all the nodes are written by myself, it is easy to deal with.

But now, I use some packages like moveit, whose code is not in my workspace and I donnot want to rewrite it :

<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">

https://github.com/ros/ros_comm/issue...

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answered 2018-08-21 17:30:55 -0500

ahendrix gravatar image

The capabilities package can be used to manage startup dependencies between launch files: http://wiki.ros.org/capabilities Most of the documentation lives on http://docs.ros.org/lunar/api/capabil... . It's a bit rough, so I'd advise that you browse around a bit to get a sense for all of the things that are possible.

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Thank you. I will read this pages and have a try with http://wiki.ros.org/capabilities .

itfanr gravatar image itfanr  ( 2018-08-28 00:54:21 -0500 )edit

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Asked: 2018-08-21 09:49:01 -0500

Seen: 160 times

Last updated: Aug 21 '18