roslaunch

Launching nodes

The Node class lets you configure nodes that you wish to run much in the same way the roslaunch <node> tag does. You can then run these nodes using the launch() command, e.g.

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

You can also pass in package and node names directly to launch(), e.g.:

launch('test_ros', 'talker.py')

You can optionally pass in arguments:

launch('test_ros', 'add_two_ints_clients', [1, 2])

If the node name is not supplied, the package name is used, e.g.:

launch('rviz')

Launching files

Launch files can be launched by accessing them through the packages interface. For example:

launch(packages.face_detector.launches.face_detector_rgbd_launch)