ros2 topic pub from launch file

asked 2021-09-10 09:01:28 -0500

Raposa
23 ●2 ●2 ●6

Hello everyone,

Does anyone know if it is possible in ros2 to directly start from launch file a simple node that publishes a message?

In ROS1 it was easily possible like this:

<node pkg="rostopic" type="rostopic" name="rostopic" args="pub {pub args}"/>

(reference from: https://answers.ros.org/question/230465/publish-to-topic-via-launch-file/)

I made a few tries in ROS2 adding an action for a node with similar parameterization in my launch description, but I don't really understand in this case what is the correct package and what is the executable for ros2 (or if it is not possible at all).

Of course I know it would be possible to define my own node that does that, instead of putting all in the launch file, but if I can avoid the added overhead as it was possible in ros1, it would be preferable.

Would anyone have a simple working example of this?

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from launch import LaunchDescription from launch.actions import ExecuteProcess def generate_launch_description(): return LaunchDescription([ ExecuteProcess(cmd=['ros2', 'topic', 'pub', '/my_topic', 'std_msgs/String', 'data: 1']) ])

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