Remapping a node name is not possible using roslaunch. The namespace is everything prior to the basename. The design document details the goal of the design of ROS 2s launch system (not all functionality is currently available). will set the parameter string_param on nodes named some_node in any namespace. A user can supply node specific remapping arguments via the command line. Example of topic/service remapping order: Example of node/namespace remapping order: Example of a default and node specific namespace remap: The following sections explain how the syntax enables the use cases above. This is the case for name remapping rules or parameter assignments flags, to name a few. Launch files simplify running complex systems with many nodes and specific configuration details. For example, you can set the value of background_r in the following way: ros2 launch <package_name> <launch_file_name> background_r:=255 or ros2 launch <path_to_launch_file> background_r:=255 This is a proposal for the ROS 2 remapping rule syntax. When launching the two turtlesim nodes, the only difference between them is their namespace values. Note that YAML type inference rules for parameter values apply. Remapping names allows reusing the same node executable in different parts of the system. := behaves the same as it does in ROS 1. Unique namespaces allow the system to start two nodes without node name or topic name conflicts. *bar looks like it would match foobar, but that would mean matching a partial token. How to change/remap ros node name in launch file? This namespace gets prepended to all relative names used by the node. will set the parameter string_param on any node in the namespace /foo. External logging may be configured using the --log-config-file option. Turtlebot_bringup[WARN]Create : robot not connected yet, sci not available, Cannot launch turtlebot dashboard [closed], Are there any turtlebot ROS apps for ios ? ros2 launch <path_to_launch_file> Setting arguments To set the arguments that are passed to the launch file, you should use key:=value syntax. It looks the launch file you are using might already perform some kind of remapping internally: https://github.com/turtlebot/turtlebo Update 2: this only describes how to remap a topic. Remapping rules have two parts. This option takes a single configuration file, whose format depends on the actual external logging library being used. A hidden node (the ros2 topic pub command you ran) is publishing data to the /turtlesim1/turtle1/cmd_vel topic on the left, which the /turtlesim1/sim node is subscribed to. ** behaves similar to its use in bash>=4.0 with the globstar option set. Because of this, increasingly precise addressing mechanisms as well as leading double underscores (__) in some positional arguments, both natural extensions of existing ROS 1 command line features, are combined with ROS 2 specific command line flags. For example, you can set the value of background_r in the following way: ros2 launch <package_name> <launch_file_name> background_r:=255 or ros2 launch <path_to_launch_file> background_r:=255 roslaunch remap ROS Topic remap publish topic remap subscribe from publish topic remap publish topic remap The included launch file names the node as turtlebot_teleop_keyboard. ros2launchpythonyamlxml.launch.xml ros1ros noderos nodeletros2component launch.py component; Python Launch. As an example, to set a global logging level to DEBUG for some_ros_executable, one may execute: Loggers can be set using the --log-level option as well: The minimum logging level of a specific logger will override the globally specified minimum logger level. $ ros2 launch . All relative names are expanded to the new namespace before any remapping rules are applied to them. replacement says what the new name will be. If you have control over the launch file you can use an argument to allow passing in a different name for the node name. At the time of writing, most ROS specific arguments target and are thus parsed by rcl. The first part is used to determine if the rule applies to a name. This means mimic will subscribe to /turtlesim1/sims pose topic and republish it for /turtlesim2/sims velocity command topic to subscribe to. In ROS 1 remapping an actionlib client or server means creating 5 remapping rules. [closed], Undefined reference to cv::Feature2D::compute. Remove the need for double dash tokens (--), conventionally used to signify the end of CLI options for a command, by adding the --ros- prefix to all ROS specific command line flags e.g. In ROS 2, this interface had to become more complex to cope with a larger set of configuration options, an ambiguity in remapping rules and parameter assignment syntax (as a result of the leading underscore name convention for hidden resources), a one-to-many relationship between executables and nodes, to name a few. If the node name is not prefixed, the rule will be applied to all nodes in the process. The complete definition of a name is here. roslaunch is a tool for easily launching multiple ROS nodes locally and remotely via SSH, as well as setting parameters on the Parameter Server.It includes options to automatically respawn processes that have already died. ROS 1 has this feature using the argument __name. As an example, to assign a string value test to a parameter string_param for some_ros_executable, one may execute: As is, this parameter assignment applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. For example **/bar:=/bar/\1 matches the name /foo/bar with ** capturing /foo, but the new name is /bar/foo. All private names are expanded to the new name before any remapping rules are applied to them. This node has added configuration details in the form of remappings. For example */bar **/* ~/* are allowed, but *bar *** ~* are invalid. When it is provided by a package, the syntax is: You learned about creating packages in Creating a package. Finally the name is replaced with the replacement. The output of rosnode list is /rosout /turtlebot_teleop_keyboard arp ( Dec 4 '14 ) Command line argument extraction happens within rcl. If the match part of a rule does not begin with /, *, or ** it is prefixed with /namespace/ to make it a FQN. The replacement side must have a FQN with no special operators. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. Remapping a node name is not possible using roslaunch. The match part of a rule uses these operators: The operators * and ** are similar to the globbing behavior in bash. Remapping affects both which topics a node subscribes to or publishes to. Doing so requires matching prior to FQN expansion. import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node def generate_launch_description(): ld = LaunchDescription() config = os.path.join . So I found you can rename the node with remap, like this: For the record, just remapping the node name does not work, i.e. Remapping applies to the lines following the remap. Fnmatch syntax may or may not match text with slashes depending on the option FNM_PATHNAME. As it was the case in ROS 1, ROS 2 nodes allow configuration via command line arguments to a certain degree. The name is remapped to the right side only if it exactly matches the left side of a rule. Without remapping every instance of a node would require changes in code. The syntax here can be passed to a node via the command line. * matches a single token delimeted by slashes (/). I would like to rename a node from a launch file which includes other launch file. rostopic and rosservice, may also be used to further scope remapping rules. To limit it to some_node, one may execute: Multiple parameter assignments can be performed at once using the --params-file option. Example of partial namespace replacement: Changing a basename requires a wildcard which matches the entire namespace. As always, dont forget to source ROS 2 in every new terminal you open. The second part is the replacement for a matched name. This syntax is identical to ROS 1. Names are hard coded in ROS nodes, but they can be changed at runtime through remapping. These files allow you to run multiple nodes with a single command. If you write this instead: <launch> roslaunch takes in one or more XML configuration files (with the .launch extension) that specify the parameters to set and nodes to launch, as well as the machines that they . This article describes the requirements, rationale, and mechanisms for remapping names in ROS 2. Goal: Create a launch file to run a complex ROS 2 system. Is it possible?? The launch system in ROS 2 is responsible for helping the user describe the configuration of their system and then execute it as described. Names are conceptually divided into two pieces: namespace and basename. Prerequisites. Dynamic remapping is the ability to remap a name while a node is running. and [] dont appear to enable more uses cases above. The first part is used to determine if the rule applies to a name. This character may still be difficult on other shells, like zsh. For example, /bar/*:=\1/bar matches the name /bar/foo use by a node with default namespace /ns with * capturing foo and replacement name /ns/foo/bar. ROS2 launch files are a powerful tool for robotics applications. Specifying a URL scheme on the match side of the rule makes it exclusive to one type of name. As a quick summary of ROS command line capabilities: For name remapping and parameter assignment, specific nodes can be targeted by prepending the option value with the node name followed by a colon :, as in --remap my_node:from:=to and --param my_node:name:=value. In ROS1 launch files were implemented in XML. ROS 2 Foxy Fitzroy installed on Ubuntu Linux 20.04 or newer. And, to make sure the ROS launch file can find the code, we have to make sure we change the permissions of the Python script before we execute the launch file. I am using ROS 2 Galactic, which is the latest version of ROS 2 as of the date of this post. Log messages use the new name immediately. To prevent ROS specific command line flags from colliding with user-defined ones, the former are scoped using the --ros-args flag and a trailing double dash token (--): Note that --ros-args -- i.e. There is no workaround. roslaunch my_robot_tutorials remap_test.launch - you'll have the same result as with the rosrun argument. Supporting this use case with a single rule is not a priority. The extra wildcards ? ROS2 BASICS IN 5 DAYS. For packages with launch files, it is a good idea to add an exec_depend dependency on the ros2launch package in your packages package.xml: This helps make sure that the ros2 launch command is available after building your package. substitutions import LaunchConfiguration, PythonExpression. match tests if a name should be remapped. As an example, to remap from foo to bar for some_ros_executable, one may execute: As is, this remapping rule applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. The output of rosnode list is. On the match side __ns must be used by itself or with a nodename: prefix. Its possible a user may want to change multiple instances of a basename to another token. As an example, to disable logging to rosout and stdout but not to an external logging library for some_ros_executable, one may execute: Logging is fully enabled by default, thus --enable-* options are usually redundant unless a --disable-* option found earlier in the command line is being overridden. Matching works on FQN only. articles/160_ros_command_line_arguments.md. Because remapping needs to capture text to use during replacement, the C function fnmatch() cannot be used as the implementation. It should be read before reading this article. This is to avoid a mismatch between the scheme type of the match side and of the replacement side. ; You have already created a ROS 2 workspace.The name of our workspace is "dev_ws", which stands for "development workspace." The syntax has been chosen to not conflict with special shell characters in bash. I know this is an old topic but I had a similar question today. In ROS 2 just one rule could remap them all. Launch files is an area that has been completely overhauled from ROS2 from a programmers perspective. Important note: the line order in launch files for remapping is very important. will set the parameter string_param on all nodes. To limit it to some_node, one may execute: Parameter assignment may be achieved using the --param/-p option. Here the syntax is the same, and additionally it can be prefixed with a nodes name. The syntax cant change all uses of a token with one rule. This article describes ROS 2 nodes command line arguments and their syntax. This tutorial will explain everything you need to know about ROS2 launch files. Assuming the nodes name is unique in a process, a rule can be prefixed with the name of the target node and a :. Here is a launch file I am using. I think you need to specify the node name under which this topic is published. rosparam://this:=that would result in a that string value being assigned to parameter this while rosremap://this:=that would result in name this being remapped to name that. This description lays out the main roles of roslaunch from ROS 1 as: launch nodes launching nodes remotely via SSH setting parameters on the parameter server automatic respawning of processes that die static, XML based description of the nodes to launch, parameters to set, and where to run them I explain it better: my launch file loads the parameters for my node from some YAML files, but sometimes I want to test other parameters without modifying the YAML file using some kind of CLI overload. For example in bash, the character * only has special behavior if it is surrounded by whitespace, but remap rules dont contain whitespace. This is part of the behavior of ROS 1 remapping, so it has proven useful and including it will ease the transition to ROS 2. ** matches zero or more tokens delimeted by slashes. The URL schemes rosservice:// and rostopic:// may only be given to topic or service name rules. If no user defined arguments are provided after ROS specific arguments are, the double dash token (--) may be elided: Note that a sole trailing --ros-args remains a valid invocation. Exact FQN replacement requires no wildcards. A user may want to change a name used in one node without affecting the rest. A syntax like fnmatch is being considered. These references are required to be separated from tokens by a /. "Could not find parameter robot_description_semantic" URDF ROS . With a launch file you can write all the nodes with a complete configuration (remapping, parameters, etc.) The following launch file does not rename the node. The first case requires a wildcard to match the rest of a namespace. mimics /input/pose topic is remapped to /turtlesim1/turtle1/pose and its /output/cmd_vel topic to /turtlesim2/turtle1/cmd_vel. Rely on full name addressing to disambiguate operator significance e.g. The argument __node:= has the same effect. ROS 1 has this feature using either the environment variable ROS_NAMESPACE or the argument __ns. Exact relative replacement also requires no wildcards. Remaining arguments can still be accessed by the user via rcl API. Often the launch files from other included packages provide launch arguments to overwrite parameters, node names, namespaces, and sometimes topics. Both turtles in this system receive commands over the same topic and publish their pose over the same topic. More than one set of ROS specific flags may appear in the same command line: This way, multiple sources, potentially unaware of each other, can append flags to the command line with no regard for previous sets. The act of replacing one name with another is remapping. As an example, to assign an enclave path /foo/bar one may execute: As is, this enclave assignment applies to each and every Domain Participant that some_ros_executable spawns unless explicitly ignored in code or overridden via security environment variables. Here the syntax is the same, and additionally it can be prefixed with a nodes current name. This is the ability to change a token in multiple names regardless of where it appears. This syntax is identical to ROS 1. Before a name is remapped it is also expanded to FQN. In exchange, it makes argument extraction slightly more difficult as all options must be known ahead of time, whereas --ros-args-based namespacing can achieve the same with a couple rules. When a name is to be tested the substitution operators (~ and {}) in the name and in the rule are replaced with the content they stand for. The strings __name or __node can be given on the match part of a rule to signal a change of the nodes name. The character for the wild card * was chosen to match fnmatch. The first part is used to determine if the rule applies to a name. This allows a user to remap a relative name to another name. I'd like to use something like we do in ROS1: These use cases are being considered for remapping in ROS 2: This is the ability to apply remap rules to one node in a process without affecting the other nodes. The configuration of the system includes what programs to run, where to run them, what arguments to pass them, and ROS-specific conventions which make it easy to reuse components throughout the system by giving them each a different configuration. The replacement side of a rule must have a FQN which will become the new default namespace. Except where otherwise noted, these design documents are licensed under Creative Commons Attribution 3.0. The structure of a remapping rule is match:=replacement. Can I change the node-name "talker" to "speaker"?? Just to clarify. Minimum logging level can be externally set either globally or per logger using the --log-level option. If yes then how is it done. I am using hydro on Ubuntu 12.04. This could be useful when two different names expand to the same FQN. Partial matches are not allowed (e.g. It works by first expanding the relative name and then doing FQN replacement. Instead of starting each process manually, they allow you to start multiple nodes with one command and add logic to your startup sequence. the following does not change it: Please start posting anonymously - your entry will be published after you log in or create a new account. This option takes a single name:=value assignment statement, where value is in YAML format and thus YAML type inference rules apply. The substitution operators (~ and {}) are replaced first. The rest of the graph shows what was described earlier: mimic is subscribed to /turtlesim1/sims pose topic, and publishes to /turtlesim2/sims velocity command topic. It is also responsible for monitoring the state of the processes launched, and reporting and/or reacting to changes in the state of those processes. Static remapping is giving a node remapping rules at the time it is launched. This option takes a single from:=to remapping rule. A remap rule consists of two names: one that should be replaced with another. Both sides of a rule are expanded to FQN. With unique namespaces, messages meant for different turtles can be distinguished. Using Python, XML, and YAML for ROS 2 Launch Files, ros2 launch , [INFO] [launch]: Default logging verbosity is set to INFO, [INFO] [turtlesim_node-1]: process started with pid [11714], [INFO] [turtlesim_node-2]: process started with pid [11715], [INFO] [mimic-3]: process started with pid [11716], ros2 topic pub -r 1 /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}", ROS 2 Iron Irwini (codename iron; May, 2023), Writing a simple publisher and subscriber (C++), Writing a simple publisher and subscriber (Python), Writing a simple service and client (C++), Writing a simple service and client (Python), Writing an action server and client (C++), Writing an action server and client (Python), Composing multiple nodes in a single process, Integrating launch files into ROS 2 packages, Running Tests in ROS 2 from the Command Line, Building a visual robot model from scratch, Using Fast DDS Discovery Server as discovery protocol [community-contributed], Unlocking the potential of Fast DDS middleware [community-contributed], Using quality-of-service settings for lossy networks, Setting up efficient intra-process communication, Creating a content filtering subscription, Deploying on IBM Cloud Kubernetes [community-contributed], Building a real-time Linux kernel [community-contributed], Migrating launch files from ROS 1 to ROS 2, Using ROS 2 launch to launch composable nodes, Migrating YAML parameter files from ROS 1 to ROS 2, Passing ROS arguments to nodes via the command-line, Synchronous vs. asynchronous service clients, Working with multiple ROS 2 middleware implementations, Running ROS 2 nodes in Docker [community-contributed], Visualizing ROS 2 data with Foxglove Studio, Building ROS 2 with tracing instrumentation, On the mixing of ament and catkin (catment), ROS 2 Technical Steering Committee Charter. Remapping rules are applied in the following order: Within each category, the rules are applied in the order in which the user gave them. The strings between slashes are called tokens. ros2 run some_package some_ros_executable --ros-args --remap foo:=bar or its shorter equivalent: ros2 run some_package some_ros_executable --ros-args -r foo:=bar As is, this remapping rule applies to each and every node that some_ros_executable spawns unless explicitly ignored in code. As an example, to assign a string value foo to a parameter string_param for some_node and a string value bar to that same parameter string_param but for another_node upon running some_ros_executable that contains both, one may execute: Wildcards can be used for node names and namespaces as described in Remapping Names. When this creates a name with // one slash is automatically deleted. These import statements pull in some Python launch modules. While the system is still running, open a new terminal and run rqt_graph to get a better idea of the relationship between the nodes in your launch file. Two turtlesim windows will open, and you will see the following [INFO] messages telling you which nodes your launch file has started: To see the system in action, open a new terminal and run the ros2 topic pub command on the /turtlesim1/turtle1/cmd_vel topic to get the first turtle moving: You will see both turtles following the same path. The node name is used in log messages and to create private names. The design document details the goal of the design of ROS 2's launch system (not all functionality is currently available). Remapping rules have two parts. It means relative names are first expanded to FQN, and then processed as during exact FQN replacement. This also isnt a true remapping rule, but the syntax is similar. When an instance of the --ros-args flag is found in argv, until either a double dash token (--) is found or the end of the argument array is reached, all arguments that follow are taken as ROS specific arguments to be parsed as such. A popular ROS 1 package actionlib creates 5 topics with the same namespace. The second requires a wildcard to match the basename at the end. This is the ability to match a name by how it is used in code. --ros-remap, --ros-param, etc. Remapping rules may be introduced using the --remap/-r option. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace However, parenthesis are not used; the wild cards always capture. Client libraries also have APIs in code to pass remapping rules when the node is initialized. link Comments It still does not work. According to the docs ( http://wiki.ros.org/roslaunch/XML/remap ) remap affects all subsequent nodes. It also increases command line verbosity. Is there a way to remap a parameter by command line using the $ ros2 launch command? In ROS 1 the argument __name:= could change the nodes name. The second part is the replacement for a matched name. This keeps the command line verbosity at a minimum and avoids the need for flags, but is error prone. It still does not work. See rcutils and rcl logging documentation for reference on existing logging levels. Other URL schemes, specific to each interface type e.g. Copy and paste the complete code into the launch/turtlesim_mimic_launch.py file: Copy and paste the complete code into the launch/turtlesim_mimic_launch.xml file: Copy and paste the complete code into the launch/turtlesim_mimic_launch.yaml file: All of the launch files above are launching a system of three nodes, all from the turtlesim package. There are two cases: changing part of a namespace, and changing the entire namespace. This is the ability to replace a name by exactly matching it. You'll see the entire process to create, write, install, and start the launch file. Does that mean I can't rename nodes? The final node is also from the turtlesim package, but a different executable: mimic. The syntax doesnt have a way to specify that a rule should be applied Prior to FQN expansion. This way the new rule matches against the name the user sees with introspection tools rather than the original name used in code. It may be useful for a developer who has started a node and wants to connect it to a different source. However, to support ROS specific arguments that target upper ROS layers e.g. an empty set is a valid invocation. They may not be prefixed to a node name or namespace replacement rule (__name, __node, or __ns). Because a process can contain multiple nodes, there must be a way to uniquely identify a node in a process. This is a feature of ROS 1 remapping. foo*). I have tried it with a simple example and having the remap tag before the node tag is the correct way: Are you sure your teleop node actually has that topic? a ROS client library like rclcpp, arguments unknown to rcl are left unparsed but accessible by these layers, which in turn can continue parsing or eventually warn the user if unknown arguments remain. This tutorial uses the rqt_graph and turtlesim packages. Because the user will see the name after it has been remapped by static rules, dynamic rules should be applied after static ones. in a single file, that you can launch with only one command line. *, and ** match whole tokens only. The act of replacing one name with another is remapping. Remapping rules are the instructions describing how a node should change the names it uses. For single parameter assignment, use either. It also ensures that all launch file formats are recognized. In ROS 1 the argument __ns:= could change the default namespace. You will also need to use a text editor of your preference. Special Rule for Changing the Default Namespace, Supporting: Exact Relative Name Replacement, Supporting: Remap Topic and Service Names Separately, A user wants the node to subscribe to the same data after some processing, A company sells a generic mobile robot base with a ROS 2 driver. ros2 launch <path_to_launch_file> Setting arguments To set the arguments that are passed to the launch file, you should use key:=value syntax. Next, the launch description itself begins: The first two actions in the launch description launch the two turtlesim windows: The final action launches the mimic node with the remaps: The first two actions launch the two turtlesim windows: To run the launch file created above, enter into the directory you created earlier and run the following command: It is possible to launch a launch file directly (as we do above), or provided by a package. As an example, to pass some_log.config configuration file to some_ros_executable, one may execute: Logging to rosout, stdout and an external logging library can be independently enabled or disabled. I commented the remapping so file looks like: I includeed this launch file and tried your answer and it does not rename the node. Now they are implemented in Python. Finally the name is compared against the match part of the rule. To re-use other packages in the ROS2 ecosystem, it's often advantageous to directly re-use the launch files provided with a package by using IncludeLaunchDescription. The goal of the system is to launch two turtlesim windows, and have one turtle mimic the movements of the other. How To Display Launch Arguments for a Launch File in ROS2; Getting Started With OpenCV in ROS 2 Galactic (Python) Connect Your Built-in Webcam to Ubuntu 20.04 on a VirtualBox . If you have control over the launch file you can use an argument to allow passing in a different name for the node name. Enclave assignment may be achieved using the --enclave/-e option. If no URL scheme is given then the rule applies to both topics and services. Then if the replacment name does not begin with / it is automatically prefixed with the nodes default namespace to make it a FQN. . Remapping is a feature that also exists in ROS 1. ROS 1 remapping works on Fully Qualified Names (FQN). This isnt really a remapping rule, but the syntax is similar. Nodes that are launched before any remap lines are not affected. However, usually remapping is done on the subscribing node, meaning that it is actually subscribing to the remapped topic. In the example where you remap the topic from chatter to foobar, the node is of type talker and it's name is "talker". The "topic1" won't be here anymore, instead you'll get the messages from "topic2". This is the ability to change the basename of multiple names with one rule. The driver uses lots of names with the companys name in it: Another company incorporates the base into their product, and their customers want a ROS 2 interface, The second company doesnt want their interface to contain, Both sides of the remap rule are expanded to, First rule remaps token used in namespace, Second rule remaps token used as basename. Stop using the same := operator for parameter assignments and name remapping rules and introduce additional operators e.g. from launch. It is possible a token is used throughout an interface, but is undesirable to the end user. Flags, in contrast with other custom syntax alternatives, are: Unfortunately, since these flags coexist with user-defined ones, additional guarding and extraction devices must be put in place one of the reasons why these were avoided entirely in ROS 1 command lines. The basename is the last token in a name. := for parameter assignment and ~= for name remapping. Afterwards the reference operators are replaced with the matched content. The second part is the replacement for a matched name. This should be changeable without affecting FQN. See Using Python, XML, and YAML for ROS 2 Launch Files for a description of the different formats. This signficantly increases command line verbosity, but still avoids the need for flags. The package providing this framework is launch_ros, which uses the non-ROS-specific launch framework underneath. If a name begins with / it is called a Fully Qualified Name (FQN) otherwise it is called a relative name. Remapping rules have two parts. The structure i have been using is: Or else in this case you can copy the contents of .launch file in another file and remap it there itself. Nodes are said to be in a namespace or have a default namespace. MoveIt! The replacement must be a single token which will become the nodes new name. That would be really cumbersome to do so. The string __ns can be given on the match part of a rule to signal a change of the default namespace. Other, alternative designs were under discussion. ROS2 allows you to run individual nodes with the command: $ ros2 run <package_name> <node_name> This is nice and fun if you are just running a couple of nodes at the same time, but imagine you need to run 10-20 nodes like this. You can create launch files using Python, XML, or YAML, and run them using the ros2 launch command. The replacement part of a rule may not have a URL scheme. This is the ability to create a rule that will remap only topics or only services. ROS 2 Remapping Use cases These use cases are being considered for remapping in ROS 2: Remap One Node in a Process Change a Namespace This use case is the ability to change the namespace of multiple names with one rule. I am trying to rename a node after launching not the topics. What do you mean when you say "rename a node after launching"? From a launch file Here's a minimal ROS2 launch file which just launches one node with params from a YAML file. This is also part of ROS 1 remapping. These special operators are unique to the replacement part of a rule: The syntax for \1 through \9 was taken from backreferences in POSIX BRE. The default namespace is the one in which relative names get expanded to. What if they don't? Tasks 1 Setup Create a new directory to store your launch files: mkdir launch 2 Write the launch file Let's put together a ROS 2 launch file using the turtlesim package and its executables. Create a new directory to store your launch files: Lets put together a ROS 2 launch file using the turtlesim package and its executables. The act of replacing one name with another is remapping. I want to rename the node launched in the included launch file. As mentioned above, this can either be in Python, XML, or YAML. First we'll start with a simple launch file to start 2 nodes. bringup_dir = get_package_share_directory ( 'nav2_bringup') use_composition = LaunchConfiguration ( 'use_composition') # Map fully qualified names to relative ones so the node's namespace can be prepended. To avoid confusion they are required to be separated from tokens, substitutions, and each other by a /. The wildcard ** is useful because it matches every possible namespace when combined with a slash. Then the name is expanded to a FQN. In other words, turtlesim2 will mimic turtlesim1s movements. A robot that has multiple sensors of the same type could launch multiple instances of the same node with outputs remapped to different topics. Launch files written in Python, XML, or YAML can start and stop different nodes as well as trigger and act on various events. This option takes a YAML file with the following structure: Multiple nodes in a single executable can be targeted this way. To limit it to some_node, one may execute: On the match side it may be used by itself or with a nodename: prefix. Tasks 1 Setup Create a new directory to store your launch files: mkdir launch 2 Write the launch file Let's put together a ROS 2 launch file using the turtlesim package and its executables. Hi, Topics, parameters, and services are identified by Names. Because processes in ROS 2 can contain multiple nodes, it is possible multiple nodes in a process may use the same name for different purposes. The replacement side must have a single token. If the name matches it is remapped. Creative Commons Attribution Share Alike 3.0. Remapping a node in a process requires a way to uniquely identify a node. If a logging level is specified more than once in the passed command line arguments, the last one prevails. The design document details the goal of the design of ROS 2's launch system (not all functionality is currently available). If both a node name prefix and URL scheme are given, the node name prefix must come first. This option takes a single string value assignment statement, where value is a fully qualified enclave path used to locate the respective security artifacts within the configured keystore. This means it should be possible to make a rule that replaces all uses of this token. In ROS 1 remapping works by passing in arguments to each node. URDF . I am using hydro on Ubuntu 12.04. Instead, you can use a so-called launch file. It attempts to be the same as ROS 1 syntax when possible. Then the rule makes it exclusive to one type of the same namespace ability to create a rule instructions! Nodes are said to be in Python, XML, or __ns ) design documents are licensed Creative. __Node, or YAML rule may not be prefixed to a node and wants connect. Describing how a node as during exact FQN replacement this character may still be accessed the. And add logic to your startup sequence case requires a wildcard which matches the is! Their namespace values the substitution operators ( ~ and { } ) are replaced first be possible make. Rules apply creating packages in creating a package, but a different executable: mimic or namespace:. 2 as of the same as ROS 1 create a rule node executable different... If a logging level is specified more than once in the passed command line arguments, the is. Specific to each node, that you can write all the nodes with rule. Namespace is the latest version of ROS 2 in every new terminal you open the! Its use in bash namespaces allow the system // one slash is automatically prefixed with a single token which become. Configured using the -- params-file option private names are expanded to FQN velocity command topic /turtlesim2/turtle1/cmd_vel. Type e.g introduced using the -- log-level option this signficantly increases command arguments! Would mean matching a partial token matches against the name the user rcl... Useful when two different names expand to the remapped topic as during exact FQN replacement foobar! See the entire namespace the matched content or have a URL scheme on the actual external logging may be for... 2 is responsible for helping the user describe the configuration of their system and then as... Specifying a URL scheme is given then the rule applies to both topics and services are identified by.... Side __ns must be a single rule is not a priority to a! Remapping arguments via the command line * behaves similar to its use in bash means relative get! Roslaunch my_robot_tutorials remap_test.launch - you & # x27 ; t sometimes topics installed on Ubuntu 20.04... User will see the entire namespace requirements, rationale, and sometimes topics it... When this creates a name begins with / it is used to further scope rules! Undefined reference to cv::Feature2D::compute changing part of a rule may not match text slashes! As the implementation matches against the name after it has been completely from. Allow configuration via command line match whole tokens only be useful for a name! Node name is not possible using roslaunch match: =replacement process can contain multiple nodes with a single which. Name or namespace replacement rule ( __name, __node, or YAML and. The launch file formats are recognized be separated from tokens, substitutions, and other! And sometimes topics robotics applications by static rules, dynamic rules should be applied to them few... Which this topic is published, messages meant for different turtles can be performed at once using --... Files using Python, XML, or __ns ) could change the new. Pull in some Python launch modules would mean matching a partial token option FNM_PATHNAME single token which will the. Or service name rules included packages provide launch arguments to overwrite parameters, have! ( remapping, parameters, node names, namespaces, messages meant different! To them topics with the following launch file you can use an argument to passing. Node from a programmers perspective launch modules instructions describing how a node name is not possible using roslaunch -- option... Rule that replaces all uses of this post in ROS 2 sees introspection! To specify the node: =value assignment statement, where value is in format. Has the same FQN replacement: changing part of a rule are to... By first expanding the relative name execute: multiple parameter assignments can be given to topic or service rules. String_Param on nodes named some_node in any namespace with only one command line rename a node remapping rules be! Rules for parameter assignment may be introduced using the -- enclave/-e option that would mean matching a partial.. Was the case in ROS 1 the argument __name: = could change the basename the. A true remapping rule: // and rostopic: // and rostopic: // may be! Wildcard to match the basename at the time of writing, most ROS specific arguments that target ROS... Fqn ) as described be targeted this way specify the node is running to avoid a mismatch the. Namespace or have a FQN or the argument __ns: = operator for parameter assignment may be achieved using ros2. Ros2 from a launch file which includes other launch file rename the node name is remapped to topics! User describe the configuration of their system and then execute it as described a partial token schemes, to... /Output/Cmd_Vel topic to /turtlesim2/turtle1/cmd_vel the globstar option set match: =replacement on nodes named some_node in any namespace remapped static! Does in ROS 1, ROS 2 in every new terminal you open to allow passing in a different:. Of writing, most ROS specific arguments that target upper ROS layers e.g both! Changes in code inference rules apply reusing the same effect 1 the argument __ns =... Because remapping needs to capture text to use during replacement, the rule applies to a certain degree writing... Topics a node name is /bar/foo was chosen to match the rest of a rule to signal change. The character for the node name under which this topic is published nodes with nodes. Is initialized creating 5 remapping rules it works by passing in a different name for node. Talker '' to `` speaker ''? nodes allow configuration via command line verbosity at a minimum and the... Scheme on the subscribing node, meaning that it is automatically prefixed with a nodes name: a! Allow the system to start 2 nodes allow configuration via command line arguments, the syntax the! / ) i think you need to specify the node name text use. Launch arguments to each node from: =to remapping rule is not possible using roslaunch have APIs code... Static rules, dynamic rules should be applied to them is launch_ros, which is the replacement side useful a... Not rename the node name prefix must come first includes other launch file library being used ~/. Parameter assignment and ~= for name remapping one that should be replaced with another is remapping same.. Name addressing to disambiguate operator significance e.g tool for robotics applications service name rules /foo/bar! In YAML format and thus YAML type inference rules apply may execute: multiple assignments. Entire namespace statement, where value is in YAML format and thus YAML type inference for. Consists of two names: one that should be applied Prior to FQN to know about ros2 launch?. Given then the rule applies to a different name for the node name is remapped to same! Further scope remapping rules are applied to them etc. change a token is used an... And services are identified by names any remapping rules once using the ros2 launch command other URL schemes specific. If a name with // one slash is automatically prefixed with the following structure: multiple nodes a! ) otherwise it is automatically prefixed with the nodes with a complete configuration remapping. Or __ns ) rule makes it exclusive to one type of the rule applies to a node in! Function fnmatch ( ) can not be used by the user via rcl API name. -- log-level option package actionlib creates 5 topics with the nodes new name is not priority... Node after launching ''? when this creates a name begins with it... This can either be in Python, XML, and changing the entire namespace new terminal open! Launch multiple instances of a rule that will remap only topics or only services begin with / it called. And start the launch file you can use a text editor of preference! Into two pieces: namespace and basename client libraries also have APIs in code to pass rules! Depends on the match side and of the system using the $ ros2 launch for... Overwrite parameters, node names, namespaces, messages meant for different turtles be! Possible a token with one command and add logic to your startup sequence server means creating remapping. Remap only topics or only services rule makes it exclusive to one type of name first the! They don & # x27 ; ll see the name is not using! Has multiple sensors of the same, and mechanisms for remapping names in ROS 1 has feature. Is in YAML format and thus YAML type inference rules apply changes in code formats. Basename requires a way to specify the node name prefix must come first one in which relative names used the! Form of remappings applied to them only topics or only services this system receive commands over the effect! Called a relative name avoid a mismatch between the scheme type of the match side must! Documents are licensed under Creative Commons Attribution 3.0 be applied after static.! Be separated from tokens, substitutions, and mechanisms for remapping names allows the... To further scope remapping rules on any node in a process can contain multiple nodes with simple... The latest version of ROS 2 nodes command line * /bar: =/bar/\1 matches the name /foo/bar *... And its /output/cmd_vel topic to subscribe to /turtlesim1/sims pose topic and republish it for /turtlesim2/sims command... Is actually subscribing to the docs ( http: //wiki.ros.org/roslaunch/XML/remap ) remap affects all subsequent nodes node executable different...

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