Launch file examples for ANF ROS 2

Dependencies

• simple_launch
• slider_publisher
• ros_management_tools for the tooling part

Basic remapping / parameter example in intro folder

Run two nodes that should work together only with remapping.

Launch files and Turtlesim

Basic syntax

The launch folder includes a few files to run turtlesim.

Standard syntax

turtlesim_classic_launch.py uses the classical syntax to run turtlesim with an option to run either a manual control or an open-loop one

simple_launch

turtlesim_launch.py does exactly the same as turtlesim_classic_launch.py, but with the simple_launch package

Two additional files can spawn new robots in the simulation:

• spawn_single_launch.py spawn a single robot at some (x,y,theta) position, that may or may not track a target. This file uses the opaque_function idiom that allows retrieving launch arguments as raw Python types, at the cost of a more difficult debugging
• spawn_all_launch.py includes spawn_single_launch.py several times to spawn multiple robots in the simulation

Robot description and RViz

The bb8 folder includes a launch file that:

• loads a robot description from a xacro file
• runs a small simulation (with an open-loop control) on this robot
• runs RViz with a custom configuration file