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[jazzy] Pull all example launchfiles into separate file with literalinclude (backport #5155) (#5179)
Signed-off-by: Emerson Knapp <[email protected]> (cherry picked from commit 666df3e) * Resolve merge conflicts
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‎source/How-To-Guides/Launch-file-different-formats.rst

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Guides/Launch-file-different-formats
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Using Python, XML, and YAML for ROS 2 Launch Files
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Using XML, YAML, and Python for ROS 2 Launch Files
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==================================================
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.. contents:: Table of Contents
@@ -29,290 +29,19 @@ Each launch file performs the following actions:
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.. group-tab:: XML
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.. code-block:: xml
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<!-- example_launch.xml -->
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<launch>
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<!-- args that can be set from the command line or a default will be used -->
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<arg name="background_r" default="0" />
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<arg name="background_g" default="255" />
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<arg name="background_b" default="0" />
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<arg name="chatter_py_ns" default="chatter/py/ns" />
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<arg name="chatter_xml_ns" default="chatter/xml/ns" />
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<arg name="chatter_yaml_ns" default="chatter/yaml/ns" />
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<!-- include another launch file -->
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py" />
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<!-- include a Python launch file in the chatter_py_ns namespace-->
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<group>
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<!-- push_ros_namespace to set namespace of included nodes -->
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<push_ros_namespace namespace="$(var chatter_py_ns)" />
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py" />
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</group>
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<!-- include a xml launch file in the chatter_xml_ns namespace-->
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<group>
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<!-- push_ros_namespace to set namespace of included nodes -->
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<push_ros_namespace namespace="$(var chatter_xml_ns)" />
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.xml" />
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</group>
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<!-- include a yaml launch file in the chatter_yaml_ns namespace-->
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<group>
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<!-- push_ros_namespace to set namespace of included nodes -->
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<push_ros_namespace namespace="$(var chatter_yaml_ns)" />
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<include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.yaml" />
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</group>
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<!-- start a turtlesim_node in the turtlesim1 namespace -->
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<node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim1" />
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<!-- start another turtlesim_node in the turtlesim2 namespace
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and use args to set parameters -->
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<node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim2">
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<param name="background_r" value="$(var background_r)" />
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<param name="background_g" value="$(var background_g)" />
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<param name="background_b" value="$(var background_b)" />
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</node>
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<!-- perform remap so both turtles listen to the same command topic -->
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<node pkg="turtlesim" exec="mimic" name="mimic">
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<remap from="/input/pose" to="/turtlesim1/turtle1/pose" />
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<remap from="/output/cmd_vel" to="/turtlesim2/turtle1/cmd_vel" />
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</node>
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</launch>
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.. literalinclude:: launch/different_formats_launch.xml
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:language: xml
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.. group-tab:: YAML
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.. code-block:: yaml
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# example_launch.yaml
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launch:
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# args that can be set from the command line or a default will be used
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- arg:
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name: "background_r"
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default: "0"
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- arg:
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name: "background_g"
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default: "255"
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- arg:
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name: "background_b"
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default: "0"
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- arg:
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name: "chatter_py_ns"
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default: "chatter/py/ns"
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- arg:
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name: "chatter_xml_ns"
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default: "chatter/xml/ns"
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- arg:
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name: "chatter_yaml_ns"
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default: "chatter/yaml/ns"
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# include another launch file
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"
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# include a Python launch file in the chatter_py_ns namespace
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- group:
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- push_ros_namespace:
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namespace: "$(var chatter_py_ns)"
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"
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# include a xml launch file in the chatter_xml_ns namespace
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- group:
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- push_ros_namespace:
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namespace: "$(var chatter_xml_ns)"
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.xml"
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# include a yaml launch file in the chatter_yaml_ns namespace
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- group:
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- push_ros_namespace:
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namespace: "$(var chatter_yaml_ns)"
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- include:
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file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.yaml"
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# start a turtlesim_node in the turtlesim1 namespace
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- node:
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pkg: "turtlesim"
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exec: "turtlesim_node"
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name: "sim"
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namespace: "turtlesim1"
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# start another turtlesim_node in the turtlesim2 namespace and use args to set parameters
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- node:
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pkg: "turtlesim"
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exec: "turtlesim_node"
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name: "sim"
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namespace: "turtlesim2"
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param:
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-
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name: "background_r"
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value: "$(var background_r)"
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-
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name: "background_g"
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value: "$(var background_g)"
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-
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name: "background_b"
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value: "$(var background_b)"
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# perform remap so both turtles listen to the same command topic
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- node:
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pkg: "turtlesim"
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exec: "mimic"
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name: "mimic"
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remap:
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-
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from: "/input/pose"
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to: "/turtlesim1/turtle1/pose"
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-
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from: "/output/cmd_vel"
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to: "/turtlesim2/turtle1/cmd_vel"
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.. literalinclude:: launch/different_formats_launch.yaml
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:language: yaml
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.. group-tab:: Python
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.. code-block:: python
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# example_launch.py
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import os
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from ament_index_python import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import GroupAction
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import TextSubstitution
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from launch_ros.actions import Node
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from launch_ros.actions import PushROSNamespace
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from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
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from launch_yaml.launch_description_sources import YAMLLaunchDescriptionSource
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def generate_launch_description():
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# args that can be set from the command line or a default will be used
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background_r_launch_arg = DeclareLaunchArgument(
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"background_r", default_value=TextSubstitution(text="0")
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)
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background_g_launch_arg = DeclareLaunchArgument(
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"background_g", default_value=TextSubstitution(text="255")
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)
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background_b_launch_arg = DeclareLaunchArgument(
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"background_b", default_value=TextSubstitution(text="0")
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)
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chatter_py_ns_launch_arg = DeclareLaunchArgument(
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"chatter_py_ns", default_value=TextSubstitution(text="chatter/py/ns")
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)
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chatter_xml_ns_launch_arg = DeclareLaunchArgument(
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"chatter_xml_ns", default_value=TextSubstitution(text="chatter/xml/ns")
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)
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chatter_yaml_ns_launch_arg = DeclareLaunchArgument(
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"chatter_yaml_ns", default_value=TextSubstitution(text="chatter/yaml/ns")
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)
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# include another launch file
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launch_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('demo_nodes_cpp'),
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'launch/topics/talker_listener_launch.py'))
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)
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# include a Python launch file in the chatter_py_ns namespace
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launch_py_include_with_namespace = GroupAction(
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actions=[
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# push_ros_namespace first to set namespace of included nodes for following actions
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PushROSNamespace('chatter_py_ns'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('demo_nodes_cpp'),
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'launch/topics/talker_listener_launch.py'))
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),
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]
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)
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# include a xml launch file in the chatter_xml_ns namespace
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launch_xml_include_with_namespace = GroupAction(
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actions=[
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# push_ros_namespace first to set namespace of included nodes for following actions
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PushROSNamespace('chatter_xml_ns'),
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IncludeLaunchDescription(
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XMLLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('demo_nodes_cpp'),
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'launch/topics/talker_listener_launch.xml'))
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),
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]
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)
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# include a yaml launch file in the chatter_yaml_ns namespace
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launch_yaml_include_with_namespace = GroupAction(
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actions=[
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# push_ros_namespace first to set namespace of included nodes for following actions
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PushROSNamespace('chatter_yaml_ns'),
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IncludeLaunchDescription(
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YAMLLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory('demo_nodes_cpp'),
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'launch/topics/talker_listener_launch.yaml'))
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),
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]
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)
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# start a turtlesim_node in the turtlesim1 namespace
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turtlesim_node = Node(
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package='turtlesim',
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namespace='turtlesim1',
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executable='turtlesim_node',
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name='sim'
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)
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# start another turtlesim_node in the turtlesim2 namespace
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# and use args to set parameters
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turtlesim_node_with_parameters = Node(
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package='turtlesim',
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namespace='turtlesim2',
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executable='turtlesim_node',
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name='sim',
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parameters=[{
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"background_r": LaunchConfiguration('background_r'),
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"background_g": LaunchConfiguration('background_g'),
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"background_b": LaunchConfiguration('background_b'),
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}]
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)
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# perform remap so both turtles listen to the same command topic
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forward_turtlesim_commands_to_second_turtlesim_node = Node(
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package='turtlesim',
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executable='mimic',
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name='mimic',
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remappings=[
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('/input/pose', '/turtlesim1/turtle1/pose'),
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('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
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]
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)
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return LaunchDescription([
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background_r_launch_arg,
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background_g_launch_arg,
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background_b_launch_arg,
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chatter_py_ns_launch_arg,
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chatter_xml_ns_launch_arg,
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chatter_yaml_ns_launch_arg,
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launch_include,
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launch_py_include_with_namespace,
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launch_xml_include_with_namespace,
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launch_yaml_include_with_namespace,
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turtlesim_node,
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turtlesim_node_with_parameters,
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forward_turtlesim_commands_to_second_turtlesim_node,
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])
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.. literalinclude:: launch/different_formats_launch.py
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:language: python
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Using the Launch files from the command line
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--------------------------------------------
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.. _launch-file-different-formats-which:
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Python, XML, or YAML: Which should I use?
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XML, YAML, or Python: Which should I use?
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-----------------------------------------
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.. note::

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