How to launch rviz with config outside ros package?

asked 2020-10-19 08:22:10 -0500

Ge Li
11 ●1 ●1 ●2

Hi,

I want to write a launch file to launch rviz, given a config file from a certain path. This is a similar question to link , but the config file is not in a ROS package. Instead I want to achieve something like:

<launch>
    <node type="rviz" name="rviz" pkg="rviz" args="-d ~/config.rviz" />
</launch>

But the config file cannot be read correctly. However, if I call rviz -d ~/config.rviz, it works as expected. I am quite confused regarding the functionalities of roslaunch...

The reason of writing this launch file is that I want to include this launch file from other launch files...

I will appreciate any help of yours,

Thank you!

Best, Bruce.

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Comments

But the config file cannot be read correctly.

that's because you expect ~ to be resolved to $HOME, and eventually to the absolute path to your home directory.

However, ~ only means something to Bash. It's the responsibility of Bash to replace ~ with an actual path, not roslaunch. So roslaunch will not do that, and RViz is then passed a path it cannot find.