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Using multiple launch files from universal_robot_package in one launch file

Hi everyone!

Because everytime I want to work on my project I have to use these three commands:

roslaunch ur_gazebo ur5.launch limited:=true

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

Now I wanted to make my life easier and implement these three commands in a launch file and the results is shown below:

   ?xml version="1.0"?>
<launch>
    <!-- Startup ur5.launch with arg "limited" -->
    <include file="$(find ur_gazebo)/launch/ur5.launch">
        <arg name="limited" value="true"/>
    </include>
    <!-- Startup ur5_moveit_planning_execution.launch with args: sim:=true and limited:=true -->
    <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
        <arg name="sim" value="true"/>
        <arg name="limited" value="true"/>
    </include>
    <!-- Startup moveit_rviz.launch with arg: config:=true -->
    <include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch">
        <arg name="config" value="true"/>
    </include>
</launch>

Only the ur5.launch will startup using gazebo. The rest of them just doesn't seem to react. I do know when spawning nodes it is different and that I could output to screen in different terminals and stuff like that.

I hope somebody can tell me what I am doing wrong.

Thanks in advance,

Edwin van Emmerik

Using multiple launch files from universal_robot_package in one launch file

Hi everyone!

Because everytime I want to work on my project I have to use these three commands:

roslaunch ur_gazebo ur5.launch limited:=true

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

Now I wanted to make my life easier and implement these three commands in a launch file and the results is shown below:

   ?xml version="1.0"?>
<launch>
    <!-- Startup ur5.launch with arg "limited" -->
    <include file="$(find ur_gazebo)/launch/ur5.launch">
        <arg name="limited" value="true"/>
    </include>
    <!-- Startup ur5_moveit_planning_execution.launch with args: sim:=true and limited:=true -->
    <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
        <arg name="sim" value="true"/>
        <arg name="limited" value="true"/>
    </include>
    <!-- Startup moveit_rviz.launch with arg: config:=true -->
    <include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch">
        <arg name="config" value="true"/>
    </include>
</launch>

Only the ur5.launch will startup using gazebo. The rest of them just doesn't seem to react. I do know when spawning nodes it is different and that I could output to screen in different terminals and stuff like that.

I hope somebody can tell me what I am doing wrong.

EDIT: The other nodes do not start up (also visible in rqt) and I do not see any logging from these nodes (because they do not startup obviously).

Thanks in advance,

Edwin van Emmerik