<!-# [ROS2] How to describe remap and parameter in python format launch->
From ROS2, you can write launch files in python, but I haven't found many examples other than tutorials yet. So, this time, I searched for remapping and how to use parameters from Github (ros2 / launch_ros) of ROS2.
import launch
import launch_ros.actions
def generate_launch_description():
return launch.LaunchDescription([
launch_ros.actions.Node(
package='demo_parameters_cpp',
node_executable='string_talker',
output='screen',
node_name='string_talker',
remappings=[('string_topic', '/talker')],
parameters=[{'string_param':'changed'}]
)
])
remap
Specify remappings in argument and add tuples to the list. Tuples are described by (topic name before remap, topic name after remap).
parameter
Specify parameters for argument and put the dictionary in the list. To specify multiple parameters, write as [{parameter1: value1, parameter2: value2, ...}].
If you want to read as a yaml file
parameters=['parameter_dir/parameter.yaml']
You can set the parameter from the yaml file by writing like.
-[ROS2] How to describe remap and parameters in xml format launch
Recommended Posts