Hands-On ROS for Robotics Programming

Understanding the roslaunch command

Let's go one step back and use a minimal launch file to understand the syntax of these kinds of scripts:

$ roslaunch rviz_basics gopigoMinimal_rviz_simple.launch

As we saw with rosrun, the structure of the ROS command is very similar:

• First is the command name itself, roslaunch.
• Second is the package name, rviz_basics.
• The third is the script we will execute, gopigoMinimal_rviz_simple.launch.

The content of the gopigoMinimal_rviz_simple.launch file looks like this:

<launch>   <!-- set these parameters on Parameter Server -->   <param name="robot_description" textfile="$(find rviz_basics)/urdf/gopigoMinimal.urdf" />   <!-- Start 3 nodes: joint_state_publisher, robot_state_publisher and rviz -->   <!-- Send joint ...