Update launch tutorials for Foxy (#525)

Specifically, I've made updates that reflect the change made in ros2/launch_ros#122 Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ferranm99 · Mar 5, 2020 · 05bd125 · 05bd125
1 parent f17071e
commit 05bd125
Show file tree

Hide file tree

Showing 2 changed files with 170 additions and 71 deletions.
diff --git a/source/Tutorials/Launch-Files/Creating-Launch-Files.rst b/source/Tutorials/Launch-Files/Creating-Launch-Files.rst
@@ -79,36 +79,71 @@ Let’s put together a ROS 2 launch file using the ``turtlesim`` package and its
 
 Copy and paste the complete code into the ``turtlesim_mimic_launch.py`` file:
 
-.. code-block:: python
-
-  from launch import LaunchDescription
-  from launch_ros.actions import Node
-
-  def generate_launch_description():
-      return LaunchDescription([
-          Node(
-              package='turtlesim',
-              node_namespace='turtlesim1',
-              node_executable='turtlesim_node',
-              node_name='sim'
-          ),
-          Node(
-              package='turtlesim',
-              node_namespace='turtlesim2',
-              node_executable='turtlesim_node',
-              node_name='sim'
-          ),
-          Node(
-              package='turtlesim',
-              node_executable='mimic',
-              node_name='mimic',
-              remappings=[
-                  ('/input/pose', '/turtlesim1/turtle1/pose'),
-                  ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
-              ]
-          )
-      ])
+.. tabs::
 
+   .. group-tab:: Dashing or Eloquent
+
+      .. code-block:: python
+
+         from  launch import LaunchDescription
+         from launch_ros.actions import Node
+
+         def generate_launch_description():
+             return LaunchDescription([
+                 Node(
+                     package='turtlesim',
+                     node_namespace='turtlesim1',
+                     node_executable='turtlesim_node',
+                     node_name='sim'
+                 ),
+                 Node(
+                     package='turtlesim',
+                     node_namespace='turtlesim2',
+                     node_executable='turtlesim_node',
+                     node_name='sim'
+                 ),
+                 Node(
+                     package='turtlesim',
+                     node_executable='mimic',
+                     node_name='mimic',
+                     remappings=[
+                         ('/input/pose', '/turtlesim1/turtle1/pose'),
+                         ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
+                     ]
+                 )
+             ])
+
+   .. group-tab:: Foxy or newer
+
+      .. code-block:: python
+
+         from  launch import LaunchDescription
+         from launch_ros.actions import Node
+
+         def generate_launch_description():
+             return LaunchDescription([
+                 Node(
+                     package='turtlesim',
+                     namespace='turtlesim1',
+                     executable='turtlesim_node',
+                     name='sim'
+                 ),
+                 Node(
+                     package='turtlesim',
+                     namespace='turtlesim2',
+                     executable='turtlesim_node',
+                     name='sim'
+                 ),
+                 Node(
+                     package='turtlesim',
+                     executable='mimic',
+                     name='mimic',
+                     remappings=[
+                         ('/input/pose', '/turtlesim1/turtle1/pose'),
+                         ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
+                     ]
+                 )
+             ])
 
 2.1 Examine the launch file
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -134,41 +169,79 @@ The goal of the system is to launch two turtlesim windows, and have one turtle m
 
 The first two actions in the launch description launch two turtlesim windows:
 
-.. code-block:: python
+.. tabs::
 
-      Node(
-          package='turtlesim',
-          node_namespace='turtlesim1',
-          node_executable='turtlesim_node',
-          node_name='sim'
-      ),
-      Node(
-          package='turtlesim',
-          node_namespace='turtlesim2',
-          node_executable='turtlesim_node',
-          node_name='sim'
-      ),
-
-Note the only difference between the two nodes is their ``node_namespace`` values.
+   .. group-tab:: Dashing or Eloquent
+
+      .. code-block:: python
+
+            Node(
+                package='turtlesim',
+                node_namespace='turtlesim1',
+                node_executable='turtlesim_node',
+                node_name='sim'
+            ),
+            Node(
+                package='turtlesim',
+                node_namespace='turtlesim2',
+                node_executable='turtlesim_node',
+                node_name='sim'
+            ),
+
+   .. group-tab:: Foxy or newer
+
+      .. code-block:: python
+
+            Node(
+                package='turtlesim',
+                namespace='turtlesim1',
+                executable='turtlesim_node',
+                name='sim'
+            ),
+            Node(
+                package='turtlesim',
+                namespace='turtlesim2',
+                executable='turtlesim_node',
+                name='sim'
+            ),
+
+Note the only difference between the two nodes is their namespace values.
 Unique namespaces allow the system to start two simulators without node name nor topic name conflicts.
 
 Both turtles in this system receive commands over the same topic and publish their pose over the same topic.
 Without unique namespaces, there would be no way to distinguish between messages meant for one turtle or the other.
 
 The final node is also from the ``turtlesim`` package, but a different executable: ``mimic``.
 
-.. code-block:: python
+.. tabs::
+
+   .. group-tab:: Dashing or Eloquent
+
+      .. code-block:: python
+
+            Node(
+                package='turtlesim',
+                node_executable='mimic',
+                node_name='mimic',
+                remappings=[
+                  ('/input/pose', '/turtlesim1/turtle1/pose'),
+                  ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
+                ]
+            )
+
+   .. group-tab:: Foxy or newer
 
-      Node(
-          package='turtlesim',
-          node_executable='mimic',
-          node_name='mimic',
-          remappings=[
-            ('/input/pose', '/turtlesim1/turtle1/pose'),
-            ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
-          ]
-      )
+      .. code-block:: python
 
+            Node(
+                package='turtlesim',
+                executable='mimic',
+                name='mimic',
+                remappings=[
+                  ('/input/pose', '/turtlesim1/turtle1/pose'),
+                  ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
+                ]
+            )
 
 This node has added configuration details in the form of remappings.
 

diff --git a/source/Tutorials/Launch-system.rst b/source/Tutorials/Launch-system.rst
@@ -81,24 +81,50 @@ Inside your launch directory, create a new launch file with the ``.launch.py`` s
 For example ``my_script.launch.py``.
 Your launch file should define the ``generate_launch_description()`` which returns a ``launch.LaunchDescription()`` to be used by the ``ros2 launch`` verb.
 
-.. code-block:: python
+.. tabs::
+
+   .. group-tab:: Dashing or Eloquent
+
+      .. code-block:: python
+
+          import launch
+          import launch.actions
+          import launch.substitutions
+          import launch_ros.actions
+
+
+          def generate_launch_description():
+              return launch.LaunchDescription([
+                  launch.actions.DeclareLaunchArgument(
+                      'node_prefix',
+                      default_value=[launch.substitutions.EnvironmentVariable('USER'), '_'],
+                      description='Prefix for node names'),
+                  launch_ros.actions.Node(
+                      package='demo_nodes_cpp', node_executable='talker', output='screen',
+                      node_name=[launch.substitutions.LaunchConfiguration('node_prefix'), 'talker']),
+              ])
+
+   .. group-tab:: Foxy or newer
+
+      .. code-block:: python
+
+          import launch
+          import launch.actions
+          import launch.substitutions
+          import launch_ros.actions
+
+
+          def generate_launch_description():
+              return launch.LaunchDescription([
+                  launch.actions.DeclareLaunchArgument(
+                      'node_prefix',
+                      default_value=[launch.substitutions.EnvironmentVariable('USER'), '_'],
+                      description='Prefix for node names'),
+                  launch_ros.actions.Node(
+                      package='demo_nodes_cpp', executable='talker', output='screen',
+                      name=[launch.substitutions.LaunchConfiguration('node_prefix'), 'talker']),
+              ])
 
-    import launch
-    import launch.actions
-    import launch.substitutions
-    import launch_ros.actions
-
-
-    def generate_launch_description():
-        return launch.LaunchDescription([
-            launch.actions.DeclareLaunchArgument(
-                'node_prefix',
-                default_value=[launch.substitutions.EnvironmentVariable('USER'), '_'],
-                description='Prefix for node names'),
-            launch_ros.actions.Node(
-                package='demo_nodes_cpp', node_executable='talker', output='screen',
-                node_name=[launch.substitutions.LaunchConfiguration('node_prefix'), 'talker']),
-        ])
 
 Usage
 ^^^^^