see full launchfile from top tier one

asked 2019-05-14 05:49:47 -0600

mcamurri gravatar image

Large launch files have several includes.

It would be helpful to have a command to see the full launchfile generated from the many nested ones, pretty much like the xacro command generates the full URDF from several nested xacro files.

In this way I can debug the ensemble more easily.

Is there a way to do that?

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I don't know of any utilities that would parse the launch file into a single file, but there is this package that can be very helpful when working with large launch files rqt_launchtree. It takes in a launch file and shows what all the arguments and parameters for each node in the launch file resolve to.

Reamees gravatar image Reamees  ( 2019-05-14 06:06:37 -0600 )edit

Thanks but it seems not to be supported in melodic. I've tried to clone and run anyway but I get import errors related to Qt. Not sure if they are because of the new operating system or not.

mcamurri gravatar image mcamurri  ( 2019-05-14 06:36:37 -0600 )edit

this fork seems to have been updated to use PyQt5.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-14 08:15:06 -0600 )edit

That one works, thanks! Not marking as solved because maybe there's some other solution available.

mcamurri gravatar image mcamurri  ( 2019-05-14 08:21:15 -0600 )edit

I believe your question is actually a duplicate of #q267570.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-14 08:23:30 -0600 )edit

That's not exactly what I've asked but I agree it's very similar. I've asked to generate the full launchfile from nested launchfiles.

mcamurri gravatar image mcamurri  ( 2019-05-14 08:54:09 -0600 )edit

I don't believe .launch files are processed in the same way as .xacros. There is no tool that can do what you want afaik.

xacro gets turned into urdf. That is a plain tree structure and there is a serialisation process for that.

Launch files get parsed into contexts and only have an in-memory representation. There is no serialisation implemented for it to be written out to a file again.

gvdhoorn gravatar image gvdhoorn  ( 2019-05-14 08:57:32 -0600 )edit