settings. The following syntax builds .xacro: file_name = sl.name_join(sl.arg('robot'), '.xacro'). Getting Started » Simple Tutorial ... All configuration information for the system is exposed to the user in the launch file. Apologies for the delay! Wiki: roslaunch (last edited 2019-10-23 03:20:24 by realtime-neil), Except where otherwise noted, the ROS wiki is licensed under the,, How to Roslaunch Nodes in Valgrind or GDB, Maintainer: Dirk Thomas , Maintainer: Jacob Perron , Michael Carroll , Shane Loretz , Author: Ken Conley, Dirk Thomas . sl.node(package, executable, **node_args) where, sl.include(package, launch_file, launch_dir = None, launch_arguments=None) where. Note: due to a race condition, roslaunch should not be used to guarantee a singleton instance of roscore. This method allows you to preview the contents of many files, but probably not in such a structure as a program dedicated to support them. sl.joint_state_publisher(use_gui, **node_args): fires up a joint_state_publisher, with or without the gui. The launch file for mud_world.launch contains the following: