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If condition in ROS2 launch xml

asked 2022-08-14 12:23:03 -0500

adityakamath gravatar image

updated 2022-09-03 23:24:36 -0500

ravijoshi gravatar image

I am migrating one of my ROS 1 launch files to ROS 2 launch.xml, and I need help implementing an if condition.

I want to implement a condition such as the following:

<param name="x"   value="0.0" if="$(var condition)" />

But this is not working with ROS 2 launch.xml. The ROS 2 design documents mentions the eval expression, but there is no documentation on how to use it.

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A launch file in ROS 2 can be written in Python, XML, or YAML. So, a workaround is to rewrite your launch file in Python. Please read the documentation for more information.

ravijoshi gravatar image ravijoshi  ( 2022-09-03 23:27:00 -0500 )edit

Yep, that's what I eventually did.

adityakamath gravatar image adityakamath  ( 2022-09-04 02:57:39 -0500 )edit

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answered 2022-09-03 14:21:28 -0500

adityakamath gravatar image

It is currently not possible, there is an issue in the ros2 git repo: https://github.com/ros2/launch_ros/is...

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Asked: 2022-08-14 12:23:03 -0500

Seen: 1,165 times

Last updated: Sep 03