rosh-launch

Scripting version of roslaunch:

l = [Node('test_ros', 'talker.py') for n in xrange(0, 10)]
procs = [launch(x) for x in l]

Creating a topic based on a "YAML Bag"

This publishes to the /outlets topic.

poses = yaml_msgs(msg.pr2_plugs_msgs.OutletPose, findros('rosh', 'outlet_db.yaml'))
for p in poses:
  topics.outlets(p)

Creating a service based on a "YAML Bag"

This creates the get_outlets service.

resp = srv.pr2_plugs_msgs.GetOutletsResponse()
resp.poses = bagy(findros('rosh', 'outlet_db.yaml'), msg.pr2_plugs_msgs.OutletPose).read()
service('get_outlets', srv.pr2_plugs_msgs.GetOutlets, lambda x: resp)