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ROS2 Launch Actions

  • Node (from launch_ros.actions): Launches a ROS 2 node.
  • IncludeLaunchDescription: Embeds another launch file.
  • ExecuteProcess: Runs a generic process.
  • DeclareLaunchArgument: Defines launch arguments.

Node

  • package: The ROS 2 package containing the node.
  • executable: The name of the executable (e.g., script or binary).
  • name: The name of the node instance (optional, overrides the default node name).
  • parameters: A list or dict of parameters to pass to the node.
  • arguments: Command-line arguments for the executable (non-ROS args).
  • output='screen': Ensures logs are visible in the terminal
  • respawn=True: Automatically restarts the node if it crashes.
  • respawn_delay=5.0: Delay before respawning the node.
  • namespace: Places the node in a ROS 2 namespace, prefixing its topics, services, and parameters.
  • remappings: Renames topics or services the node uses. list of tuples. [('old_topic', 'new_topic')]
  • additional_env: Sets environment variables for the node. Dictionary of key-value pairs.
  • condition: Specifies a condition for launching the node. If the condition is not met, the node won't be launched.
  • prefix: Adds a command prefix (e.g., gdb for debugging).
  • emulate_tty: ??