Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Launch large project tutorial fix #4454

Merged
merged 4 commits into from
Aug 21, 2024
Merged

Launch large project tutorial fix #4454

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
0c62dbe
remove instruction that will fail, inconsistency
knmcguire May 14, 2024
e1fd93c
add rviz folder in setup.py
knmcguire May 14, 2024
09a1008
add warning for missing environment variable
knmcguire May 14, 2024
1e96698
Update source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Lar…
knmcguire Aug 2, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 4 additions & 2 deletions source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -218,8 +218,6 @@ Let's now create a configuration file, ``turtlesim.yaml``, in the ``/config`` fo
background_g: 86
background_r: 150
If we now start the ``turtlesim_world_2_launch.py`` launch file, we will start the ``turtlesim_node`` with preconfigured background colors.

To learn more about using parameters and using YAML files, take a look at the :doc:`Understand parameters <../../Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters>` tutorial.

2.3 Using wildcards in YAML files
Expand Down Expand Up @@ -475,6 +473,8 @@ Let's now create the last launch file called ``fixed_broadcaster_launch.py`` in
This launch file shows the way environment variables can be called inside the launch files.
Environment variables can be used to define or push namespaces for distinguishing nodes on different computers or robots.

.. note:: If you are running the launch file where the `USER` environment variable is not defined (like in the ROS docker file), then you can replace the `EnvironmentVariable('USER')` above with any other word of your liking.

Running launch files
--------------------

Expand All @@ -497,6 +497,8 @@ The ``data_files`` field should now look like this:
glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
(os.path.join('share', package_name, 'config'),
glob(os.path.join('config', '*.yaml'))),
(os.path.join('share', package_name, 'rviz'),
glob(os.path.join('config', '*.rviz'))),
],
2 Build and run
Expand Down