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What is the Windows equivalent of launch-prefix="xterm -e" for launch files?

asked 2019-04-22 10:56:31 -0600

RobotRiley gravatar image

updated 2019-04-22 11:04:33 -0600

I am moving from Ubuntu to Windows 10 (using Melodic) and I can't seem to find the equivalent to launch-prefix="xterm -e" for windows. What I am trying to do is open each node in a separate window from the master when I run the launch file. Here is my launch file (with xterm still there):

> <launch>
> 
>     <node pkg="cpp-test"
>         type="listener"
>         name="test_listener"
>         output="screen"
>         launch-prefix="xterm -e">     </node>
>   
>     <node pkg="cpp-test"
>         type="talker"
>         name="test_talker"
>         output="screen"
>         launch-prefix="xterm -e">     </node>
> 
> </launch>

There is also the issue that I am not opening a standard command window, but rather a custom one from a shortcut. So my question is what command can I put in the launch file so that I can open up a separate window for the master and both nodes?

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Comments

Not an answer, but: could start be used here? Together with the shortcut that you use to open a "regular ROS cmd window"? Potentially append a %* (not sure this is needed) so that all args (ie: actual node executable path and args) are passed as args of the shortcut?

gvdhoorn gravatar imagegvdhoorn ( 2019-04-22 11:12:12 -0600 )edit

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answered 2019-04-22 17:07:17 -0600

OoeyGUI gravatar image

This is a new use case for me. start is a cmd.exe intrinsic command, so cannot be used directly. However, you can use it in combination with cmd.exe: launch-prefix="cmd.exe /K start"

This does launch the node in a new window, which correctly captures the output of the node.

However, on a cursory view, it doesn't appear to propogate the ROS command line to the launched tasks. I've created a task in the Windows porting status to track this. https://github.com/ms-iot/ROSOnWindow... .

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Thanks, this does what I need it to do. It would be nice to have ROS command functionality too, but for now this is a good solution.

RobotRiley gravatar imageRobotRiley ( 2019-04-23 12:59:43 -0600 )edit

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Asked: 2019-04-22 10:56:31 -0600

Seen: 120 times

Last updated: Apr 22