Alternatives for (not working) nested substitution arguments for roslaunch

asked 2013-09-20 11:43:36 -0600

24361 ●173 ●299 ●444 https://www.energy-rob...

updated 2013-09-20 11:44:00 -0600

I´m currently changing the launch file setup on a project and would like to do something like

<include file="$(find $(env ROBOT_TYPE)_config)/launch/planning_config.launch">

This doesn´t appear to be possible. There is a workaround by creating one launch file per robot type and referencing that, but I was wondering if there are other options that I missed and that do not require creating one launch file per robot type. I´m hoping I´m missing some otherwise obvious simple alternative here ;)

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answered 2013-09-22 03:51:26 -0600

sedwards
1601 ●28 ●43 ●61 http://rosindustrial.swri.edu/

I've had the same issue and never found a real solution. One thing that may be a work around is to use xacro ( http://wiki.ros.org/xacro ) to generate the launch files for each robot. You can run xacro from makefiles (at least in rosbuild you could ).

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answered 2016-06-03 21:50:58 -0600

juztamau5
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updated 2016-06-04 02:00:42 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

See my answer to a similar question here: http://answers.ros.org/question/35283...

This is now made possible by a feature added to roslaunch version 1.12.1, released April 18, 2016. (ATM the debian repos are at version 1.12.0, so you'll either have to wait or download the github sources)

roslaunch 1.12.1 adds support for evaluation of arbitrary python expressions using the syntax $(eval <expression>). With this change, the following is possible:

<include file="$(eval find(env('ROBOT_TYPE') + '_config') + '/launch/planning_config.launch')">

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Alternatives for (not working) nested substitution arguments for roslaunch

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