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I want to use the name of my namespace in my launch file, to do some more things, but for that, I would have to dereference my namespace name in the launch file like we dereference arguments using $(arg argument_name)
Any idea how this can be done?
Hi @electrophod
How about using the Group option that provides the XML launch. Like so:
<?xml version="1.0"?>
<launch>
<arg name="ns0" default="ares"/> <!-- Namespace 0 -->
<arg name="ns1" default="ares"/> <!-- Namespace 1 -->
<!-- Group namespace 0 Nodes -->
<group ns="$(arg ns0)">
<!-- Include nodes that works in namespace 0 -->
<include...>
...
</include>
</group>
<!-- Include nodes that works in global namespace -->
<include...>
...
</include>
<!-- Group namespace 1 Nodes -->
<group ns="$(arg ns1)">
<!-- Include nodes that works in namespace 1 -->
<include...>
...
</include>
</group>
</launch>
And call it like this:
roslaunch package my_launch.launch ns0:=namespace_0 ns1:=namespace_1
I do not know if that is exactly what you want, if it not the case I will update the answer.
In my experience, it is rarely necessary to parameterize the namespace string. If you use the <group> tag, the namespaces will naturally nest, without the developer doing anything further.
@Mike Scheutzow I guess so, but maybe it is an interesting way of organizing your worspaces, for intance let us imagine that we need to work with a fleet of vehicles which is lanched and controlled concurrently with the same architecture.
Asked: 2021-07-08 03:56:32 -0600
Seen: 157 times
Last updated: Jul 08 '21
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