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BLUF: Melodic uses Python 2 which requires a __init__.py file in each folder containing python scripts. I found out wha

ROS Melodic no longer finding python scripts NOTE: Working in Windows (I have to because this is the machine that my wor

I finally figured out how to put the code in without messing up when using the greater than or less than symbols! That took a while ... sadly. Thanks for your help. Do you have any idea on the second part of my question about how I can assign the args by means of the rosparam yaml file I load?

Apparently the way I had it coded originally was correct (see original question). The reason it was failing was due to it adding a couple args ("__name:" and "__log:"). This caused a problem with my code which looks for the correct number of args. Thanks for your help.

My code accounted for too few and too many args ... so I thought it was exiting because it had 0 args when it was actually because of too many.

It turns out my code was correct already (exactly yours shown above). Problem was that when you add the "args" line to the code it sends the args you entered along with 2 others: "__name:=FOO1" and "__log:= ...". I had code in the other files which verified correct # of args.

See http://wiki.ros.org/roslaunch/XML

Half way down page in "A More Complicated Example"
comment: Pass args to the listener node

<node name="listener-2" pkg="rospy_tutorials" type="listener" args="-foo arg2"/>

I agree I should know ... and I do. I just feel that it should be more straight forward approach which doesn't involve changing code to accommodate my launch file. I found on the ROSwiki "how" to do it but I've got it exactly this way and it isn't working. See next comment (comments are too short)

It just seems like if I can call a node from the terminal

rosrun foo_pkg foo_node 1 192.168.100.10

without any knowledge of internal code parameter names. I should be able to do it in the launch file that way as well. Maybe a system call from inside the launch file would work?

This is how it is done on a regular basis? It seems excessive to have to go into my source code for each of my packages and add the above code replacing my normal:
int main (int argc, char *argv[])
{
ipAdd = argv[1];
...
}

Actually, I already had it exactly like this ... I just don't know how to put the greater than and less than symbols in message without it thinking it is actual xml code to execute.

I'm trying to write a roslaunch file which opens a few nodes with unique ip addresses which are provided in a yaml file. If I wanted to start each one using terminals for each I would type it in as follows:

rosrun foo_pkg foo_node 1 192.168.100.10
rosrun foo_pkg foo_node 2 192.168.100.20

I want to be able to open them all in one launch file:

FIRST TRY SIMPLY CODING INTO LAUNCH FILE:

     <launch>
       <node   name="FOO1"
               pkg="foo_pkg"
               type="foo_node"
               args="1 192.168.100.10"
               output="screen"/>
       <node   name="FOO2"
               pkg="foo_pkg"
               type="foo_node"
               args="2 192.168.100.20"
               output="screen"/>
     </launch>

     ip:  
       board1:  
         num: 1  
         address: '192.168.10.10'  
       board2:  
         num: 2  
         address: '192.168.10.20'

So my main question is ... HOW CAN I USE THE ROSPARAMS INSIDE THE ROSLAUNCH FILE TO PROPERLY LAUNCH THEM?