Enclave assignment may be achieved using the --enclave/-e option. The character for the wild card * was chosen to match fnmatch. This is the case for name remapping rules or parameter assignments flags, to name a few. Is there a way to remap a parameter by command line using the $ ros2 launch command? So I found you can rename the node with remap, like this: For the record, just remapping the node name does not work, i.e. := for parameter assignment and ~= for name remapping. In the example where you remap the topic from chatter to foobar, the node is of type talker and it's name is "talker". Now they are implemented in Python. and [] dont appear to enable more uses cases above. However, usually remapping is done on the subscribing node, meaning that it is actually subscribing to the remapped topic. For example, you can set the value of background_r in the following way: ros2 launch <package_name> <launch_file_name> background_r:=255 or ros2 launch <path_to_launch_file> background_r:=255 The package providing this framework is launch_ros, which uses the non-ROS-specific launch framework underneath. The second requires a wildcard to match the basename at the end. Because processes in ROS 2 can contain multiple nodes, it is possible multiple nodes in a process may use the same name for different purposes. I know this is an old topic but I had a similar question today. I commented the remapping so file looks like: I includeed this launch file and tried your answer and it does not rename the node. For single parameter assignment, use either. Instead, you can use a so-called launch file. Often the launch files from other included packages provide launch arguments to overwrite parameters, node names, namespaces, and sometimes topics. 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 article describes ROS 2 nodes command line arguments and their syntax. The act of replacing one name with another is remapping. This means mimic will subscribe to /turtlesim1/sims pose topic and republish it for /turtlesim2/sims velocity command topic to subscribe to. Is it possible?? The node name is used in log messages and to create private names. It works by first expanding the relative name and then doing FQN replacement. This keeps the command line verbosity at a minimum and avoids the need for flags, but is error prone. The output of rosnode list is. That would be really cumbersome to do so. Creative Commons Attribution Share Alike 3.0. The first part is used to determine if the rule applies to a name. This option takes a single configuration file, whose format depends on the actual external logging library being used. Both turtles in this system receive commands over the same topic and publish their pose over the same topic. For example in bash, the character * only has special behavior if it is surrounded by whitespace, but remap rules dont contain whitespace. The extra wildcards ? ; You have already created a ROS 2 workspace.The name of our workspace is "dev_ws", which stands for "development workspace." This also isnt a true remapping rule, but the syntax is similar. This signficantly increases command line verbosity, but still avoids the need for flags. ROS2 allows you to run individual nodes with the command: $ ros2 run <package_name> <node_name> This is nice and fun if you are just running a couple of nodes at the same time, but imagine you need to run 10-20 nodes like this. For packages with launch files, it is a good idea to add an exec_depend dependency on the ros2launch package in your packages package.xml: This helps make sure that the ros2 launch command is available after building your package. It means relative names are first expanded to FQN, and then processed as during exact FQN replacement. $ ros2 launch . How To Display Launch Arguments for a Launch File in ROS2; Getting Started With OpenCV in ROS 2 Galactic (Python) Connect Your Built-in Webcam to Ubuntu 20.04 on a VirtualBox . Because a process can contain multiple nodes, there must be a way to uniquely identify a node in a process. Goal: Create a launch file to run a complex ROS 2 system. ROS 1 has this feature using either the environment variable ROS_NAMESPACE or the argument __ns. This is a feature of ROS 1 remapping. The substitution operators (~ and {}) are replaced first. How to change/remap ros node name in launch file? The complete definition of a name is here. This description lays out the main roles of roslaunch from ROS 1 as: launch nodes launching nodes remotely via SSH setting parameters on the parameter server automatic respawning of processes that die static, XML based description of the nodes to launch, parameters to set, and where to run them in a single file, that you can launch with only one command line. If both a node name prefix and URL scheme are given, the node name prefix must come first. Remapping applies to the lines following the remap. ROS 1 remapping works on Fully Qualified Names (FQN). This option takes a single from:=to remapping rule. There is no workaround. := behaves the same as it does in ROS 1. Command line argument extraction happens within rcl. Rely on full name addressing to disambiguate operator significance e.g. First we'll start with a simple launch file to start 2 nodes. Does that mean I can't rename nodes? There are two cases: changing part of a namespace, and changing the entire namespace. These files allow you to run multiple nodes with a single command. To limit it to some_node, one may execute: Multiple parameter assignments can be performed at once using the --params-file option. Here is a launch file I am using. Because remapping needs to capture text to use during replacement, the C function fnmatch() cannot be used as the implementation. As an example, to disable logging to rosout and stdout but not to an external logging library for some_ros_executable, one may execute: Logging is fully enabled by default, thus --enable-* options are usually redundant unless a --disable-* option found earlier in the command line is being overridden. ros2 launch <path_to_launch_file> Setting arguments To set the arguments that are passed to the launch file, you should use key:=value syntax. Remapping rules have two parts. According to the docs ( http://wiki.ros.org/roslaunch/XML/remap ) remap affects all subsequent nodes. The URL schemes rosservice:// and rostopic:// may only be given to topic or service name rules. When an instance of the --ros-args flag is found in argv, until either a double dash token (--) is found or the end of the argument array is reached, all arguments that follow are taken as ROS specific arguments to be parsed as such. As an example, to assign a string value test to a parameter string_param for some_ros_executable, one may execute: As is, this parameter assignment applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. I would like to rename a node from a launch file which includes other launch file. In ROS 1 the argument __ns:= could change the default namespace. On the match side __ns must be used by itself or with a nodename: prefix. In ROS 2 just one rule could remap them all. a ROS client library like rclcpp, arguments unknown to rcl are left unparsed but accessible by these layers, which in turn can continue parsing or eventually warn the user if unknown arguments remain. It also increases command line verbosity. The strings between slashes are called tokens. . I am using hydro on Ubuntu 12.04. Tasks 1 Setup Create a new directory to store your launch files: mkdir launch 2 Write the launch file Let's put together a ROS 2 launch file using the turtlesim package and its executables. Client libraries also have APIs in code to pass remapping rules when the node is initialized. These import statements pull in some Python launch modules. The first case requires a wildcard to match the rest of a namespace. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. A user may want to change a name used in one node without affecting the rest. Nodes that are launched before any remap lines are not affected. Topics, parameters, and services are identified by Names. Remapping a node in a process requires a way to uniquely identify a node. The rest of the graph shows what was described earlier: mimic is subscribed to /turtlesim1/sims pose topic, and publishes to /turtlesim2/sims velocity command topic. Remapping rules have two parts. For example, /bar/*:=\1/bar matches the name /bar/foo use by a node with default namespace /ns with * capturing foo and replacement name /ns/foo/bar. This way the new rule matches against the name the user sees with introspection tools rather than the original name used in code. Before a name is remapped it is also expanded to FQN. If the node name is not prefixed, the rule will be applied to all nodes in the process. The syntax cant change all uses of a token with one rule. Remapping affects both which topics a node subscribes to or publishes to. I am using ROS 2 Galactic, which is the latest version of ROS 2 as of the date of this post. This use case is the ability to change the namespace of multiple names with one rule. an empty set is a valid invocation. A hidden node (the ros2 topic pub command you ran) is publishing data to the /turtlesim1/turtle1/cmd_vel topic on the left, which the /turtlesim1/sim node is subscribed to. This tutorial will explain everything you need to know about ROS2 launch files. As an example, to assign a string value foo to a parameter string_param for some_node and a string value bar to that same parameter string_param but for another_node upon running some_ros_executable that contains both, one may execute: Wildcards can be used for node names and namespaces as described in Remapping Names. Using Python, XML, and YAML for ROS 2 Launch Files, ros2 launch , [INFO] [launch]: Default logging verbosity is set to INFO, [INFO] [turtlesim_node-1]: process started with pid [11714], [INFO] [turtlesim_node-2]: process started with pid [11715], [INFO] [mimic-3]: process started with pid [11716], ros2 topic pub -r 1 /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}", ROS 2 Iron Irwini (codename iron; May, 2023), Writing a simple publisher and subscriber (C++), Writing a simple publisher and subscriber (Python), Writing a simple service and client (C++), Writing a simple service and client (Python), Writing an action server and client (C++), Writing an action server and client (Python), Composing multiple nodes in a single process, Integrating launch files into ROS 2 packages, Running Tests in ROS 2 from the Command Line, Building a visual robot model from scratch, Using Fast DDS Discovery Server as discovery protocol [community-contributed], Unlocking the potential of Fast DDS middleware [community-contributed], Using quality-of-service settings for lossy networks, Setting up efficient intra-process communication, Creating a content filtering subscription, Deploying on IBM Cloud Kubernetes [community-contributed], Building a real-time Linux kernel [community-contributed], Migrating launch files from ROS 1 to ROS 2, Using ROS 2 launch to launch composable nodes, Migrating YAML parameter files from ROS 1 to ROS 2, Passing ROS arguments to nodes via the command-line, Synchronous vs. asynchronous service clients, Working with multiple ROS 2 middleware implementations, Running ROS 2 nodes in Docker [community-contributed], Visualizing ROS 2 data with Foxglove Studio, Building ROS 2 with tracing instrumentation, On the mixing of ament and catkin (catment), ROS 2 Technical Steering Committee Charter. The first part is used to determine if the rule applies to a name. The structure i have been using is: Or else in this case you can copy the contents of .launch file in another file and remap it there itself. What do you mean when you say "rename a node after launching"? Without remapping every instance of a node would require changes in code. The basename is the last token in a name. Remapping a node name is not possible using roslaunch. The replacement side of a rule must have a FQN which will become the new default namespace. This namespace gets prepended to all relative names used by the node. Instead of starting each process manually, they allow you to start multiple nodes with one command and add logic to your startup sequence. Remove the need for double dash tokens (--), conventionally used to signify the end of CLI options for a command, by adding the --ros- prefix to all ROS specific command line flags e.g. The final node is also from the turtlesim package, but a different executable: mimic. In ROS1 launch files were implemented in XML. Remapping a node name is not possible using roslaunch. import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): ld = LaunchDescription() config = os.path.join . Example of partial namespace replacement: Changing a basename requires a wildcard which matches the entire namespace. Remapping is a feature that also exists in ROS 1. Flags, in contrast with other custom syntax alternatives, are: Unfortunately, since these flags coexist with user-defined ones, additional guarding and extraction devices must be put in place one of the reasons why these were avoided entirely in ROS 1 command lines. In ROS 1 the argument __name:= could change the nodes name. I think you need to specify the node name under which this topic is published. Turtlebot_bringup[WARN]Create : robot not connected yet, sci not available, Cannot launch turtlebot dashboard [closed], Are there any turtlebot ROS apps for ios ? The first part is used to determine if the rule applies to a name. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace All relative names are expanded to the new namespace before any remapping rules are applied to them. With unique namespaces, messages meant for different turtles can be distinguished. I have tried it with a simple example and having the remap tag before the node tag is the correct way: Are you sure your teleop node actually has that topic? The replacement side must have a FQN with no special operators. Can I change the node-name "talker" to "speaker"?? The string __ns can be given on the match part of a rule to signal a change of the default namespace. You will also need to use a text editor of your preference. The replacement part of a rule may not have a URL scheme. When this creates a name with // one slash is automatically deleted. All private names are expanded to the new name before any remapping rules are applied to them. Exact FQN replacement requires no wildcards. foo*). Here the syntax is the same, and additionally it can be prefixed with a nodes current name. Supporting this use case with a single rule is not a priority. Special Rule for Changing the Default Namespace, Supporting: Exact Relative Name Replacement, Supporting: Remap Topic and Service Names Separately, A user wants the node to subscribe to the same data after some processing, A company sells a generic mobile robot base with a ROS 2 driver. However, parenthesis are not used; the wild cards always capture. 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. The default namespace is the one in which relative names get expanded to. I am using hydro on Ubuntu 12.04. If a name begins with / it is called a Fully Qualified Name (FQN) otherwise it is called a relative name. The driver uses lots of names with the companys name in it: Another company incorporates the base into their product, and their customers want a ROS 2 interface, The second company doesnt want their interface to contain, Both sides of the remap rule are expanded to, First rule remaps token used in namespace, Second rule remaps token used as basename. ROS2 BASICS IN 5 DAYS. It still does not work. link Comments It still does not work. From a launch file Here's a minimal ROS2 launch file which just launches one node with params from a YAML file. If you have control over the launch file you can use an argument to allow passing in a different name for the node name. As an example, to set a global logging level to DEBUG for some_ros_executable, one may execute: Loggers can be set using the --log-level option as well: The minimum logging level of a specific logger will override the globally specified minimum logger level. The included launch file names the node as turtlebot_teleop_keyboard. It should be read before reading this article. This is also part of ROS 1 remapping. See Using Python, XML, and YAML for ROS 2 Launch Files for a description of the different formats. Matching works on FQN only. This is to avoid a mismatch between the scheme type of the match side and of the replacement side. The replacement must be a single token which will become the nodes new name. ROS2 launch files are a powerful tool for robotics applications. The configuration of the system includes what programs to run, where to run them, what arguments to pass them, and ROS-specific conventions which make it easy to reuse components throughout the system by giving them each a different configuration. ** matches zero or more tokens delimeted by slashes. Minimum logging level can be externally set either globally or per logger using the --log-level option. Tasks 1 Setup Create a new directory to store your launch files: mkdir launch 2 Write the launch file Let's put together a ROS 2 launch file using the turtlesim package and its executables. A syntax like fnmatch is being considered. I'd like to use something like we do in ROS1: Remapping rules may be introduced using the --remap/-r option. When launching the two turtlesim nodes, the only difference between them is their namespace values. The syntax has been chosen to not conflict with special shell characters in bash. A user can supply node specific remapping arguments via the command line. This is the ability to change a token in multiple names regardless of where it appears. I am trying to rename a node after launching not the topics. In ROS 1 remapping works by passing in arguments to each node. This syntax is identical to ROS 1. This article describes the requirements, rationale, and mechanisms for remapping names in ROS 2. Note that YAML type inference rules for parameter values apply. In ROS 1 remapping an actionlib client or server means creating 5 remapping rules. Hi, Launch files simplify running complex systems with many nodes and specific configuration details. Launch files written in Python, XML, or YAML can start and stop different nodes as well as trigger and act on various events. [closed], Undefined reference to cv::Feature2D::compute. They may not be prefixed to a node name or namespace replacement rule (__name, __node, or __ns). This is a proposal for the ROS 2 remapping rule syntax. Remapping names allows reusing the same node executable in different parts of the system. rosparam://this:=that would result in a that string value being assigned to parameter this while rosremap://this:=that would result in name this being remapped to name that. If you write this instead: <launch> This is the ability to replace a name by exactly matching it. You'll see the entire process to create, write, install, and start the launch file. When it is provided by a package, the syntax is: You learned about creating packages in Creating a package. These special operators are unique to the replacement part of a rule: The syntax for \1 through \9 was taken from backreferences in POSIX BRE. This option takes a YAML file with the following structure: Multiple nodes in a single executable can be targeted this way. Remapping rules have two parts. The design document details the goal of the design of ROS 2s launch system (not all functionality is currently available). Remaining arguments can still be accessed by the user via rcl API. ** behaves similar to its use in bash>=4.0 with the globstar option set. This option takes a single string value assignment statement, where value is a fully qualified enclave path used to locate the respective security artifacts within the configured keystore. Then the name is expanded to a FQN. roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they . The design document details the goal of the design of ROS 2's launch system (not all functionality is currently available). It attempts to be the same as ROS 1 syntax when possible. As an example, to assign an enclave path /foo/bar one may execute: As is, this enclave assignment applies to each and every Domain Participant that some_ros_executable spawns unless explicitly ignored in code or overridden via security environment variables. Example of topic/service remapping order: Example of node/namespace remapping order: Example of a default and node specific namespace remap: The following sections explain how the syntax enables the use cases above. While the system is still running, open a new terminal and run rqt_graph to get a better idea of the relationship between the nodes in your launch file. This is the ability to match a name by how it is used in code. What if they don't? This isnt really a remapping rule, but the syntax is similar. The design document details the goal of the design of ROS 2's launch system (not all functionality is currently available). Here the syntax is the same, and additionally it can be prefixed with a nodes name. To avoid confusion they are required to be separated from tokens, substitutions, and each other by a /. Other URL schemes, specific to each interface type e.g. ros2 run some_package some_ros_executable --ros-args --remap foo:=bar or its shorter equivalent: ros2 run some_package some_ros_executable --ros-args -r foo:=bar As is, this remapping rule applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. As it was the case in ROS 1, ROS 2 nodes allow configuration via command line arguments to a certain degree. Launch files is an area that has been completely overhauled from ROS2 from a programmers perspective. When a name is to be tested the substitution operators (~ and {}) in the name and in the rule are replaced with the content they stand for. However, to support ROS specific arguments that target upper ROS layers e.g. Static remapping is giving a node remapping rules at the time it is launched. Two turtlesim windows will open, and you will see the following [INFO] messages telling you which nodes your launch file has started: To see the system in action, open a new terminal and run the ros2 topic pub command on the /turtlesim1/turtle1/cmd_vel topic to get the first turtle moving: You will see both turtles following the same path. The structure of a remapping rule is match:=replacement. At the time of writing, most ROS specific arguments target and are thus parsed by rcl. This tutorial uses the rqt_graph and turtlesim packages. The "topic1" won't be here anymore, instead you'll get the messages from "topic2". Create a new directory to store your launch files: Lets put together a ROS 2 launch file using the turtlesim package and its executables. ros2launchpythonyamlxml.launch.xml ros1ros noderos nodeletros2component launch.py component; Python Launch. As an example, to remap from foo to bar for some_ros_executable, one may execute: As is, this remapping rule applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. The goal of the system is to launch two turtlesim windows, and have one turtle mimic the movements of the other. The second part is the replacement for a matched name. Assuming the nodes name is unique in a process, a rule can be prefixed with the name of the target node and a :. Important note: the line order in launch files for remapping is very important. Remapping rules are the instructions describing how a node should change the names it uses. Copy and paste the complete code into the launch/turtlesim_mimic_launch.py file: Copy and paste the complete code into the launch/turtlesim_mimic_launch.xml file: Copy and paste the complete code into the launch/turtlesim_mimic_launch.yaml file: All of the launch files above are launching a system of three nodes, all from the turtlesim package. I want to rename the node launched in the included launch file. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. This syntax is identical to ROS 1. "Could not find parameter robot_description_semantic" URDF ROS . To limit it to some_node, one may execute: Parameter assignment may be achieved using the --param/-p option. The act of replacing one name with another is remapping. See rcutils and rcl logging documentation for reference on existing logging levels. rostopic and rosservice, may also be used to further scope remapping rules. This should be changeable without affecting FQN. The output of rosnode list is /rosout /turtlebot_teleop_keyboard arp ( Dec 4 '14 ) will set the parameter string_param on nodes named some_node in any namespace. This is the ability to create a rule that will remap only topics or only services. These references are required to be separated from tokens by a /. ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04 or newer. On the match side it may be used by itself or with a nodename: prefix. The act of replacing one name with another is remapping. The syntax here can be passed to a node via the command line. Prerequisites. roslaunch remap ROS Topic remap publish topic remap subscribe from publish topic remap publish topic remap Then if the replacment name does not begin with / it is automatically prefixed with the nodes default namespace to make it a FQN. Stop using the same := operator for parameter assignments and name remapping rules and introduce additional operators e.g. Names are conceptually divided into two pieces: namespace and basename. As an example, to pass some_log.config configuration file to some_ros_executable, one may execute: Logging to rosout, stdout and an external logging library can be independently enabled or disabled. URDF . For example */bar **/* ~/* are allowed, but *bar *** ~* are invalid. Remapping rules are applied in the following order: Within each category, the rules are applied in the order in which the user gave them. A remap rule consists of two names: one that should be replaced with another. The second part is the replacement for a matched name. A robot that has multiple sensors of the same type could launch multiple instances of the same node with outputs remapped to different topics. This is the ability to change the basename of multiple names with one rule. In ROS 2, this interface had to become more complex to cope with a larger set of configuration options, an ambiguity in remapping rules and parameter assignment syntax (as a result of the leading underscore name convention for hidden resources), a one-to-many relationship between executables and nodes, to name a few. This allows a user to remap a relative name to another name. If a logging level is specified more than once in the passed command line arguments, the last one prevails. roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server.It includes options to automatically respawn processes that have already died. In other words, turtlesim2 will mimic turtlesim1s movements. This character may still be difficult on other shells, like zsh. ROS 1 has this feature using the argument __name. To prevent ROS specific command line flags from colliding with user-defined ones, the former are scoped using the --ros-args flag and a trailing double dash token (--): Note that --ros-args -- i.e. match tests if a name should be remapped. *, and ** match whole tokens only. The wildcard ** is useful because it matches every possible namespace when combined with a slash. from launch. And, to make sure the ROS launch file can find the code, we have to make sure we change the permissions of the Python script before we execute the launch file. To limit it to some_node, one may execute: The replacement side must have a single token. The namespace is everything prior to the basename. The name is remapped to the right side only if it exactly matches the left side of a rule. MoveIt! If no URL scheme is given then the rule applies to both topics and services. Just to clarify. ros2 launch <path_to_launch_file> Setting arguments To set the arguments that are passed to the launch file, you should use key:=value syntax. Dynamic remapping is the ability to remap a name while a node is running. The second part is the replacement for a matched name. If the name matches it is remapped. Doing so requires matching prior to FQN expansion. Because of this, increasingly precise addressing mechanisms as well as leading double underscores (__) in some positional arguments, both natural extensions of existing ROS 1 command line features, are combined with ROS 2 specific command line flags. The match part of a rule uses these operators: The operators * and ** are similar to the globbing behavior in bash. These use cases are being considered for remapping in ROS 2: This is the ability to apply remap rules to one node in a process without affecting the other nodes. the following does not change it: Please start posting anonymously - your entry will be published after you log in or create a new account. *bar looks like it would match foobar, but that would mean matching a partial token. Specifying a URL scheme on the match side of the rule makes it exclusive to one type of name. If yes then how is it done. roslaunch my_robot_tutorials remap_test.launch - you'll have the same result as with the rosrun argument. Nodes are said to be in a namespace or have a default namespace. As mentioned above, this can either be in Python, XML, or YAML. Unique namespaces allow the system to start two nodes without node name or topic name conflicts. Both sides of a rule are expanded to FQN. replacement says what the new name will be. Because the user will see the name after it has been remapped by static rules, dynamic rules should be applied after static ones. Its possible a user may want to change multiple instances of a basename to another token. This option takes a single name:=value assignment statement, where value is in YAML format and thus YAML type inference rules apply. mimics /input/pose topic is remapped to /turtlesim1/turtle1/pose and its /output/cmd_vel topic to /turtlesim2/turtle1/cmd_vel. This means it should be possible to make a rule that replaces all uses of this token. Names are hard coded in ROS nodes, but they can be changed at runtime through remapping. substitutions import LaunchConfiguration, PythonExpression. I explain it better: my launch file loads the parameters for my node from some YAML files, but sometimes I want to test other parameters without modifying the YAML file using some kind of CLI overload. This is part of the behavior of ROS 1 remapping, so it has proven useful and including it will ease the transition to ROS 2. Finally the name is replaced with the replacement. This could be useful when two different names expand to the same FQN. If no user defined arguments are provided after ROS specific arguments are, the double dash token (--) may be elided: Note that a sole trailing --ros-args remains a valid invocation. As always, dont forget to source ROS 2 in every new terminal you open. For example **/bar:=/bar/\1 matches the name /foo/bar with ** capturing /foo, but the new name is /bar/foo. will set the parameter string_param on all nodes. Afterwards the reference operators are replaced with the matched content. If the match part of a rule does not begin with /, *, or ** it is prefixed with /namespace/ to make it a FQN. articles/160_ros_command_line_arguments.md. You can create launch files using Python, XML, or YAML, and run them using the ros2 launch command. The launch system in ROS 2 is responsible for helping the user describe the configuration of their system and then execute it as described. In exchange, it makes argument extraction slightly more difficult as all options must be known ahead of time, whereas --ros-args-based namespacing can achieve the same with a couple rules. bringup_dir = get_package_share_directory ( 'nav2_bringup') use_composition = LaunchConfiguration ( 'use_composition') # Map fully qualified names to relative ones so the node's namespace can be prepended. External logging may be configured using the --log-config-file option. Partial matches are not allowed (e.g. Log messages use the new name immediately. This node has added configuration details in the form of remappings. It is also responsible for monitoring the state of the processes launched, and reporting and/or reacting to changes in the state of those processes. It may be useful for a developer who has started a node and wants to connect it to a different source. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace Next, the launch description itself begins: The first two actions in the launch description launch the two turtlesim windows: The final action launches the mimic node with the remaps: The first two actions launch the two turtlesim windows: To run the launch file created above, enter into the directory you created earlier and run the following command: It is possible to launch a launch file directly (as we do above), or provided by a package. will set the parameter string_param on any node in the namespace /foo. Finally the name is compared against the match part of the rule. As a quick summary of ROS command line capabilities: For name remapping and parameter assignment, specific nodes can be targeted by prepending the option value with the node name followed by a colon :, as in --remap my_node:from:=to and --param my_node:name:=value. * matches a single token delimeted by slashes (/). Exact relative replacement also requires no wildcards. Other, alternative designs were under discussion. For example, you can set the value of background_r in the following way: ros2 launch <package_name> <launch_file_name> background_r:=255 or ros2 launch <path_to_launch_file> background_r:=255 It looks the launch file you are using might already perform some kind of remapping internally: https://github.com/turtlebot/turtlebo Update 2: this only describes how to remap a topic. A popular ROS 1 package actionlib creates 5 topics with the same namespace. The argument __node:= has the same effect. The strings __name or __node can be given on the match part of a rule to signal a change of the nodes name. With a launch file you can write all the nodes with a complete configuration (remapping, parameters, etc.) The following launch file does not rename the node. It is possible a token is used throughout an interface, but is undesirable to the end user. --ros-remap, --ros-param, etc. Fnmatch syntax may or may not match text with slashes depending on the option FNM_PATHNAME. It also ensures that all launch file formats are recognized. The syntax doesnt have a way to specify that a rule should be applied Prior to FQN expansion. 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