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Is there a way to add pipes in Roslaunch files?

asked 2012-07-19 10:26:25 -0500

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So in order to get more information out of GMapping, I had to write a simple publisher to publish what I wanted after I piped it in. My question now is can you add pipes to a Roslaunch file, so that way instead of having to type

roslaunch turtlebot_navigation gmapping_demo.launch | rosrun scan publisher.py

I can just add it to an xml file?

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...why not just add the publisher to the GMapping node?

Mac gravatar image Mac  ( 2012-07-19 11:21:03 -0500 )edit

Oh, I was having difficulty finding what I wanted in the code, since the Gmapping node is really just a wrapper. It is possible.

IFLORbot gravatar image IFLORbot  ( 2012-07-20 09:15:09 -0500 )edit

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answered 2012-07-20 00:13:25 -0500

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roslaunch does have a launch-prefix option for nodes. Although it is a prefix, not postfix, you might be able to come up with something like a bash script that automatically pipes.

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Asked: 2012-07-19 10:26:25 -0500

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Last updated: Jul 20 '12