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How do you load some command line such as "ros2 topic pub --once /S0 std_msgs/msg/Float64 '{data: 1.5}' && ros2 topic pub --once /S1 std_msgs/msg/Float64 '{data: 1.5}'" while leave ignition bridge in the launch file?
Even better, how do you create a node where you can load ros2 command line?
Sounds like you're looking for the ExecuteProcess Launch action:
from launch import LaunchDescription
from launch.action import ExecuteProcess
def generate_launch_description():
return LaunchDescription([
ExecuteProcess(cmd=['ros2', 'topic', 'pub', '--once', '/S0',
'std_msgs/msg/Float64', '{data: 1.5}']),
ExecuteProcess(cmd=['ros2', 'topic', 'pub', '--once', '/S1',
'std_msgs/msg/Float64', '{data: 1.5}']),
])
Another example can be found in the launch examples: https://github.com/ros2/launch/blob/m...
Asked: 2022-02-07 11:43:32 -0500
Seen: 396 times
Last updated: Feb 16 '22
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I'm not sure I follow your question. Are you asking how to run
ros2 topic pub ...from a launch file? If so, use the launch.actions.ExecuteProcess action.Yes!! I think that's the one.
How do you use it exactly? I don't think I've ever seen it before