Wrap rclcpp::Node with basic Lifecycle behavior? This example will use time as a prefix if use_time_prefix_in_talker argument is 1, only for the talker. ROS 1: The rules that were shown in Type inference rules subsection of param tag applies to any attribute. Some more documentation would be great. In ROS 1 remapping an actionlib client or server means creating 5 remapping rules. Setup code Remap the ROS topic With command line In a launch file Namespaces Yes that should be the way. I implemented it myself not so long ago so if you have troubles let us know. This may seem backwards at first, but once understood from the perspective of the subscribing node (which is the one remapped in this example), it makes perfect sense. It's usual that parameters that are of type int (or float) also accept an str, that will be later substituted and tried to convert to an int (or float) by the action. Remapping a node name is not possible using roslaunch. For that reason, it can only be used nested in a, Available in ROS 1, included content was scoped. ros2 launch using IncludeLaunchDescription and remapping topics [closed], Creative Commons Attribution Share Alike 3.0. GroupAction lets you scope the context of different nodes / launch configurations. To understand how remapping resolves names, see Remapping Arguments and Names. from publish topic remap publish topic , pubtime /time_abs ~time_rel topic publish Is there another programmatic way to overwrite these values without the use of launch args? Nodes that are launched before any remap lines are not affected. , -->, Qiita Advent Calendar 2022, You can efficiently read back useful information. We commented the "__ns:=" remap flag that goes into arguments that goes into global context. In the XML launch file above, the topic_name defaults to the name chatter, but can be configured on the command-line. Remapping affects both which topics a node subscribes to or publishes to. What if they don't? A tag already exists with the provided branch name. What are the problem? If a node publishes on "topic1", then you can make it publish on "topic2" instead, without having to change the code of the node. Check out the ROS 2 Documentation. Then, instead of using the ns attribute, add the push_ros_namespace action tag to specify the namespace: Nesting include tags under a group tag is only required when specifying a namespace. This tutorial will explain everything you need to know about ROS2 launch files. from="original-name" Usually used together with let, include and push_ros_namespace tags. Migrating tags from ROS 1 to ROS 2 launch Available in ROS 1. launch is the root element of any ROS 2 launch XML file. launch-prefix configuration affects both executable and node tags' actions. A description of the ROS 2 launch system and its Python API can be found in :doc:`Launch System tutorial <../Tutorials/Intermediate/Launch/Launch-system>`. To re-use other packages in the ROS2 ecosystem, it's often advantageous to directly re-use the launch files provided with a package by using IncludeLaunchDescription. If able, simply tell the new node to subscribe to this other topic. I have used this one as a reference, and everything seems to work. Therefore, any publishing nodes end up getting their messages to that node by publishing to the topic specified in the to field in the remap command! Well, technically you could create a launch file anywhere, in any package you want. [closed], Creative Commons Attribution Share Alike 3.0. Differences from ROS 1: ros2 launch using IncludeLaunchDescription and remapping topics [closed] galactic launch IncludeLaunchDescription remap asked Jan 25 '22 jeremya 235 16 25 31 To re-use other packages in the ROS2 ecosystem, it's often advantageous to directly re-use the launch files provided with a package by using IncludeLaunchDescription. They are the same type, and you want to pipe your "hello" topic into the new node which wants "chatter". ROStopicparamremap Are you sure you want to create this branch? Launch file examples Below is a launch file implemented in Python, XML, and YAML. Launches a new node. So, when this node subscribes to topic "chatter" in its source code, it is remapped to actually subscribe to "hello", so that it ends up receiving any messages published by other ROS nodes to "hello". I haven't tried it out myself, but it sounds to me like a GroupAction and a SetRemap action might be what you're looking for. Each launch file performs the following actions: Wiki: roslaunch/XML/remap (last edited 2022-10-15 09:16:44 by LennartWachowiak), Except where otherwise noted, the ROS wiki is licensed under the. Cannot retrieve contributors at this time, :doc:`Launch System tutorial <../Tutorials/Intermediate/Launch/Launch-system>`, :doc:`Using Substitutions <../Tutorials/Intermediate/Launch/Using-Substitutions>`. Remapped topic: name of the ROS topic that you are remapping FROM. More than 3 years have passed since last update. Target name. A popular ROS 1 package actionlib creates 5 topics with the same namespace. , Topic remap publish topic remap subscribe MoveIt! group launch , The output of rosnode list is /rosout /turtlebot_teleop_keyboard arp ( Dec 4 '14 ) For example: It's also possible to use full parameter names: arg is used for declaring a launch argument, or to pass an argument when using include tags. Is there any more guidance around this? First things first, let's understand why. Remapping allows you to "trick" a ROS node so that when it thinks it is subscribing to or publishing to /some_topic it is actually subscribing to or publishing to /some_other_topic, for instance. You can do this with this remap: Again, this example is from the perspective of the receiving node which subscribes to the topic. However, I need to remap the /cmd_vel topic. I am setting up a navigation2 launch file. , remap , remap . The <remap> tag applies to all subsequent declarations in its scope ( <launch>, <node> or <group> ). Name that you are remapping. EDIT Guess I should say that I filed an enhancement request. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Launching nav2 from another launch file and remapping the cmd_vel topic: Parametrizing two nodes within one launch file. roslaunch remap ROS Topic remap publish topic remap subscribe from publish topic remap publish topic remap rviz2 does not show the images published on the topic, Best way to integrate ndarray into ros2 [closed], How to remap topic in a ROS2 launch file? link Comments It still does not work. Struggling to remap a topic from another launch file (nav2) from my master bringup launch file. Migrating launch files from ROS 1 to ROS 2. putting the ns tag in the group tag in the top level launch file putting the remap tag in the node tag in the client launch file putting the remap tag in the group tag in the client launch file changing the remap to be from="a/topic" to="topic" What am I missing here? However, I need to remap the /cmd_vel topic. This could be accomplished by adding the following line to the launch file: Now, when this node subscribes to topic /different_topic, the remapping makes it actually subscribe to topic /needed_topic. I have used this one as a reference, and everything seems to work. The ROS Wiki is for ROS 1. SetRemap then lets you define remapping rules within that context. Example: Node provides an actionlib server move_head and checks a parameter called move_head If you have control over the launch file you can use an argument to allow passing in a different name for the node name. This guide shows how to use these different formats to accomplish the same task, as well as has some discussion on when to use each format. However, usually remapping is done on the subscribing node, meaning that it is actually subscribing to the remapped topic. "Could not find parameter robot_description_semantic" URDF ROS . Sometimes, you may need a message on a specific ROS topic which normally only goes to one set of nodes to also be received by another node. ROS2 launch files are a powerful tool for robotics applications. how to publish a complex msg via launch file? vel_rc angvel_rc ~joy /rc/vel/joy /rc/angvel/joy /rc/joy , group remap I am not sure what is the syntax to do so in a top-level launch file to have it propagated to a nested launch file. A description of the ROS 2 launch system and its Python API can be found in :doc:`Launch System tutorial <../Tutorials/Intermediate/Launch/Launch-system>`. , ~joy , joy_node /joy /rc/joy In order to include a launch file under a namespace as in ROS 1 then the include tags must be nested in a group tag. Launching a simple launchfile on ros2:foxy failed, micro_ros_setup No definition of [python3-vcstool] for OS [osx], Passing an array of arrays of doubles from a yaml config file, Prismatic Joint not working properly with ROS2 & Gazebo 11, Purpose of visibility_control files in ros packages. Help us understand the problem. This guide describes how to write XML launch files for an easy migration from ROS 1. Thank you! Remapping a topic means that you'll change the topic name at run-time. ros2 launchfile remap asked Apr 22 '21 g.bardaro 110 7 12 16 Hi everyone, I am setting up a navigation2 launch file. In ROS 2, it's not. It has been replaced with env, set_env and unset_env: Allows limiting the scope of launch configurations. Why remapping a ROS topic? Install the ROS2 launch file Add dependencies Install from a Cpp package Install from a Python package Run the ROS2 launch file Customize your nodes in ROS2 launch files Rename node Topic/Service remapping Parameters Conclusion Where to create your launch files? roslaunch pubtime pubtime1 rostopic list, ~ , Remap , launch This action can be used as a workaround: It's a replacement of arg tag with a value attribute. You signed in with another tab or window. Are you using ROS 2 (Dashing/Foxy/Rolling)? Assuming the above launch configuration is in a file named mylaunch.xml, a different topic name can be used by launching it with the following: There is some additional information about passing command-line arguments in :doc:`Using Substitutions <../Tutorials/Intermediate/Launch/Using-Substitutions>`. node Available in ROS 1. to="new-name" ROS2: how to specify parameter with namespace in python launch file? URDF .