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what are the differences between "name" and "type" in roslaunch?

asked 2013-05-02 03:55:52 -0500

Mohsen Hk gravatar image

updated 2013-05-02 17:03:49 -0500

joq gravatar image

what are the differents between "name" and "type" in roslaunch for nodes?

  <master auto="start"/>
<node pkg="tf" type="static_transform_publisher" name="fake_localize" args="0 0 0 0 0 0 map odom 10"/>
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answered 2013-05-02 04:12:10 -0500

rohan gravatar image

updated 2013-05-02 04:13:02 -0500

Type is the file you want to launch in the package whereas the name is a unique identifier for your node.

In your example it will launch static_transform_publisher in package tf with name of the node as fake_localize.

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tnx for your link. for complete the answre, for example in my launch file >> the "fake_localize"(NAME) node is uniqe arbitrary name, (you can see in rxgraph!) using the "static_transform_publisher" (TYPE) executable from the "tf" package.

Mohsen Hk gravatar image Mohsen Hk  ( 2013-05-02 04:25:00 -0500 )edit

Yes that's right!

rohan gravatar image rohan  ( 2013-05-02 04:31:03 -0500 )edit

answered 2014-12-04 04:10:33 -0500

oogabooga gravatar image

The easiest way to find out what to initialize in the type is to go to your CMakeLists.txt. Find the line that says something like add_executable(blah_blah src/whatever.cpp) then blah_blah is the type. Another way is to cd to your /devel/lib/ folder, dig into your package and there you will see the executables(probably, in green).

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Thanks for the answer. While using C++ the "type" in launch file should be the name of the target in CMakeLists.txt, but when using Python it should be the "", is that correct?

Fenglong gravatar image Fenglong  ( 2022-04-14 08:53:10 -0500 )edit

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Asked: 2013-05-02 03:55:52 -0500

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Last updated: Dec 04 '14