ros2 launch using IncludeLaunchDescription and remapping topics [closed]

edit

Yes that should be the way. I implemented it myself not so long ago so if you have troubles let us know.

Is there any more guidance around this? Some more documentation would be great. Struggling to remap a topic from another launch file (nav2) from my master bringup launch file.

The only documentation I know if is directly in the source code: https://github.com/ros2/launch_ros/bl...

The only example I know if is in a node composition unit test: https://github.com/ros2/launch_ros/bl...

nav2_bringup has a similar usecase, where they use PushRosNamespace within a GroupAction instead of SetRemap, but the usage is very similar, if you want a more "in the wild" example: https://github.com/ros-planning/navig...

If you still need guidance, I think you'll need to add a bit more context on what specifically you are having issues with, and it may merit opening a new question.

Thanks @shonigmann I found an exact example of what I was trying to do here: https://github.com/gnaur/simbot/blob/...

It follows what you mentioned in your original answer :)

Launching nav2 from another launch file and remapping the cmd_vel topic:

# launch nav 2
nav_include = GroupAction(
    actions=[

        SetRemap(src='/cmd_vel',dst='/cmd_vel_nav'),

        IncludeLaunchDescription(
             PythonLaunchDescriptionSource(nav_pkg_path + '/launch/bringup_launch.py'),
             launch_arguments = {
                   'use_sim_time' : use_sim,
                   'map' : map_file_name,
                   'autostart' : 'true',
                   'slam' : do_mapping,
                   'params_file' : [configured_params]

             }.items(),

        )
    ]
)