Remap topic ros launch

View range

My Package. A remap rule consists of two names: one that should be replaced with another. 如:使用foreach来拼接in子语句. roslaunch需要一个. ROS2较ROS1,在launch方面进行了比较大的改动。. A ROS wrapper over the AirSim C++ client library. 2. bag /base_scan:=/scan This is a powerful feature of ROS that lets you launch the same node under multiple configurations from the command-line. . Without the remap the keyboard teleopartion will not work as the topic used for publishing velocity commands will be different from the one used to receive them in the robot. This is a powerful feature of ROS that  如果以默认参数运行,发布的Topic名称为/message,这是我们已经知道的事情。 接下来,是本节要重点介绍的group标签。在launch文件中,通过设置group的ns属性,可以使group  roslaunch baxter_moveit_config demo_baxter. 动手学ROS(6):命名空间之group与remap. In this guide, we will be looking at how to integrate our robot’s odometry system with Nav2. Also, often times you forget to do this, and it could be a pain in the neck to specify these remapping arguments every time. Namespaces and Remapping Modified 2020-10-21 by arsimone. sudo apt-get install ros-kinetic-ros-tutorials. See roslaunch or ROS Launch file type. Change in the launch file and use the remap function  rosrun. 如果是要remap一个该 You can read more about how to interpret launch files here. 如果是要remap一个该节点发布的 source_topic 到 target_topic ,应该是 <remap from="/source_topic" to="/target_topic" />. 命名空间(namespace)是编程语言中常用的一个名词,读者应该都不会陌生,它的主要作用就是避免命名冲突,也就是说,同一个Class可以存在不同的命名空间中。. ROS nodes use a ROS client library to communicate with other nodes. launch文件的remap标签详解. airsim_ros_pkgs#. Nodes can publish or subscribe to a topic. 2) rosbag play is a node just like any other and its published topics can be remapped in the same way as any other node. The command will remap commands sent from the keyboard to the /cmd_vel topic to the /demo/cmd_vel topic (which is the topic that the robot gets its velocity commands from as you saw in the sdf file). • The names that can be remapped include the node name, topic names, and Parameter names. In ROS 1 remapping works by passing in arguments to each node. 29. But before we start, if you are new to ROS and want to Learn ROS Fast, I recommend you to take any of the following courses on Robot Ignite Academy: ROS Basics In 5 Days (Python) ROS Basics In 5 Days In this tutorial I’ll show you a ROS2 launch file example and we’ll build it step by step. Workspace. Next, we will show how to setup odometry with two different cases. launch Baxter is a bit funny in that it's joint_states topic needs to be remapped to /robot/joint_states. 2实验结果2. ROS NODES, TOPICS, MESSAGES AND RE-START MINIMAL LAUNCH SET X=0, Y=0. launch – you’ll have the same result as with the rosrun argument. We therefore remap the topic name here from cmd_vel to demand_vel. <launch> <remap from="topic1" to="topic2" /> <node name="publisher_node" pkg="my_robot_tutorials" type="publisher. ROS Topics • In ROS, line, the special __name remapping syntax can be used • The following two shell commands would launch The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a <node> directly. However, the node still subscribes to the unmapped topic. g. Topics can be recorded and replayed using rosbag and played step by step. 在ros中,命名空间的概念是相似的,同样也是为了区分名称 The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a <node> directly. You can also provide assignment for private node Example. : roslaunch ros_tutorials_topic union. autom_param_optimization. Improve this question. We are going to show how to configure a launch file in order to use the same robot we have been using throughout this series. Setup#. Add nodes to the launch files for your real sensors (you will have to find ROS sensor packages for your sensors) Adjust the frame IDs and remap statements in the launch files, so the sensor data (point cloud, laser, IMU) gets into the correct ROS topics Any ROS name within a node can be remapped when it is launched at the command-line. 前几篇文章在启动ros node的时候使用的是rosrun命令,但每次启动之前都需要单独启动roscore,显得有些繁琐。. このセクションではプロジェクトが大きくなり,rosrunによるノードの単体起動が困難になってきた際に用いるlaunchファイルにについて学びます。 2. (ie foo => y, foo => x/y, or foo => /x/y) In the first two cases, the output topic will be in whatever namespace foo was in, regardless of where the remap tag is in the launch file. debug ROS 2 Topic Statistics Tutorial (C++) Using Fast DDS Discovery Server as discovery protocol [community-contributed] Migrating launch files from ROS 1 to ROS 2; Hey ROS Developers! This is our last post of the series, actually a Bonus post, to show something ready-to-use ROS provides to us. However, you can't rename TF transformations with this method. Launch the user interface window of Gazebo (default true) headless (deprecated) recording (previously called headless) Enable gazebo state log recording. launch) that start three preconfigured RVIZ sessions for the ZED, the ZED-M, ZED2 and ZED2i Understanding ROS nodes. A node really isn't much more than an executable file within a ROS package. Add nodes to the launch files for your real sensors (you will have to find ROS sensor packages for your sensors) Adjust the frame IDs and remap statements in the launch files, so the sensor data (point cloud, laser, IMU) gets into the correct ROS topics ROS中. For that we are going to use Robot Ignite Academy. launch,display_zedm. etc. First we will provide a brief introduction on odometry, plus the necessary messages and transforms that need to be published for Nav2 to function correctly. 1测试用例及结果2. Topic remapping specified in the launch-file was correctly registered (at least a  Khordad 8, 1392 AP roslaunch: remap: add stronger name matching to allow remapping to sub topic names. rxbag ˜/2012-01-12-09-53-29. For example, if I have a bag file publishing a laser scan on /base_scan, but I want it on /scan, I can do rosbag play my_bag. ). Azar 23, 1397 AP 例えば pubtime というノードが, /time_abs と ~time_rel という名前で topic を publish している場合を考えます. これをroslaunch で pubtime を  Tir 19, 1399 AP Without changing the launch and config files, you can remap topics by passing command line arguments to roslaunch, for example: For example, a node that pubtime is, /time_abs and ~time_rel will consider the case that publish the topic named. 3 launch 文件. debug messages on the topic chatter . Hello ROS Developers!In today's video we are going to see how to use remap in a launch file. Moulard˜˜() ROS tutorial January 2012 22 / 32 程法说. Is recommended that you consult the IEEE publication with title: A Case Study on Automatic Parameter Optimization of a Mobile Robot Localization Algorithm, published on ICARSC 2017 conference in Coimbra, Portugal. roslaunch interbotix_moveit_interface moveit_interface. But before we start, if you are new to ROS and want to Learn ROS Fast, I recommend you to take any of the following courses on Robot Ignite Academy: ROS Basics In 5 Days (Python) ROS Basics In 5 Days xml ros launch robotics robot. Names within a node (e. im using Ros indigo versionA: Basically, remap is a feature to rename topics, Hello ROS Developers! In today’s video we are going to see how to use remap in a launch file. I'm wondering about the tf tree for the robots. ROS installation workspace package node topic service mimic" > < remap from = "input" to = "turtlesim1/turtle1" / > < remap from = "output" to with launch ros The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a <node> directly. For this example, I will refer to the following (as asked in this question), so how can we execute those commands consecutively & automatically : ROS - Data display with Rviz . is_bidirectional (bool, default False): If True, the remapper will also allow passing TFs published on the "remapped end" to the "old end" via a reverse mapping. Share. It takes one or more "*. RVIZ is a ROS graphical interface that allows you to visualize a lot of information, using plugins for many kinds of available topics. launch的xml文件,启动时会检查系统是否已经启动了roscore,如果没有,会自动 ROS is designed to be a loosely coupled system where a process is called a node and every node should be responsible for one task. roscore rosbag play --clock ˜/2012-01-12-09-53-29. test_cli_remapping package from system_tests repo test_cli test_cli_remapping test_communication test_quality_of_service test_rclcpp test_security github-ros2-system_tests new_tf_topic_name (string, default '/tf'): The topic on which remapped TFs are published. It is also possible to set a local position target and have ROS’s navigation libraries (with help from ArduPilot’s velocity controller) move the vehicle to the target. Node. launch, display_zed2. If you're running AirSim on Windows, you can use Windows Subsystem for Linux (WSL) to run the ROS wrapper, see the instructions below. Running Hello, I am trying to run two turtlebots in a gazebo simulation. 但是也只是很简单的几句话,让人理解的并不是那么深刻,我们还是结合ROS-Tutorials中的一个海龟模仿的实例来进行讲解,以便于理解。. Q: Remapping between nodes How to remap between nodes in launch file. topicのremap. <launch>. Since it often required both topic remapping and namespace remapping, it wasn't always clear which took precedent - commonly resulting in duplicated or missing namespaces. When this is running the pubtime named  Bahman 18, 1393 AP I started a standalone roslisp-script using roslaunch. rosbag play filename. Move_base is designed to receive odometry on the topic "odom". 其实ros还提供了一种运行ros node的方式:roslaunch。. however, the only difference to the first remap is  【ROS】一斉にnodeを起動するLaunchの書き方. protocol the y can communicate (independent of the v endor) Quality of Ser vice settings to tailor the comm. launch hoge:= 1. ROS中. The names that can be remapped include the node name, topic names, and Parameter names. 1代码概述2. Any ROS name within a node can be remapped when it is launched at the command-line. Remapping is a feature that also exists in ROS 1. Q: Remapping between nodesHow to remap between nodes in launch file. The names of topics to which the node will publish/subscribe (i. ROS consists of a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms. 2. Sep 23, 2017 · $ roslaunch ros_pkg ros_pkg. When you start to have a few nodes in your ROS2 application, it quickly becomes not-so-practical to start each node – with its own configuration – manually in a different terminal. The “topic1” won’t be here anymore, instead you’ll get the messages from “topic2”. for the specific scenario (see eProsima's talk @ 11:35) Dynamic remapping of t opics enables various different approaches, e. One other change I want to make to the rodney. The ROS time API ensures that the time data will remain consistent. Resource. 原先ROS1是使用xml格式来编写launch文件,而ROS2却是用python来编写launch文件. rosnode list 를 통해 확인해보면 아래 이름으로 노드들이 실행되고 있음을 알 수 있습니다. Understanding namespaces and remapping is very crucial to working with large ROS software stacks. manage complexity through composition of simpler systems (launch files) allow including of other launch files. This is a powerful feature of ROS that lets you launch the same node under multiple configurations from the command-line. but it should be subscribing to the new topic. # 创建Node对象fusion_localizer_node,标明所在位置fusion_localizer,将可执行文件重命名为fusion_localizer_nodes,同时可以将运行节点node放 ##### gmapping 参数设定 launch文件的书写 laser的topic名称,与自己的激光的topic相对应 --> 机器人的坐标系 --> 世界坐标--> 启动slam的节点--> set maxUr You can rename topic names using the remapping command line arguments or <remap from="some_topic" to="new_topic_name" /> in launch files. Hi, I want to send the position to ROS, but I have a question: I have been is that I was not able to remap the topics using a remap in the launch files. roslaunch turtlebot_teleop keyboard_teleop. Add a slash to your topic remap instruction: <remap from="topic_a_temp" to="/ns1/topic_a"> ROS will then look up the name globally as it's written, not relative to the namespace the node is launching in. This feature The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a <node> directly. im using Ros indigo version A: Basically, remap is a feature to rename topics, node names and some special keys of ROS env. 最後這個是筆者覺得roslaunch 最好用的功能之一,也就是當我們跟別人合作執行專案時,訂的topic name有出入的時候可以進行的一個小撇步,不需要更改node內的topic名稱,只需要下remap的標籤,就可以無痛移植啦! <remap from="/topic_1" to="/topic_2" if="$(arg sync)"/> In ROS 2, launch files are implemented in Python, making them good candidates for containing checks for configuration errors, both within individual ROS nodes and globally within the whole system new_tf_topic_name (string, default '/tf'): The topic on which remapped TFs are published. 因为目前运行在机器人上的 ROS 系统一般都要同时运行多个节点,如果我们开机启动时,一个一个的输入命令来启动每一个节点,想想就可怕,所以 ROS Sending Commands from rviz¶. The below steps are meant for Linux. The text was updated  Farvardin 17, 1400 AP How to remap topic's name? I'm using ROS kinetic on Ubuntu You can check the answer bellow, it contains an example launch file. You can also provide assignment for private node ros2 run turtlebot3_teleop teleop_keyboard --ros-args --remap /cmd_vel:=/demo/cmd_vel. The Navigation Stack will rely on the map_server package for the 2D map, the amcl package for localization in that map, sensor and odometry messages from roslaunch roslaunch是ros自带的一个库,使用roslaunch可以同时运行多个节点,通过编写launch文件来 节点的output topic. we use several remap entries to modify the topic names used by this node, to ensure that Remapping Arguments • Any ROS name within a node can be remapped when it is launched at the command-line. We can start moving the robot inside the world by using key board teleoperation, and we can see a map building according to the environment. Pay special attention if you use any kind of multimaster solution or a custom topic transport. It should not be done. ROS is a software framework for writing robot software. ROS wrapper for SMAC, a versatile tool for optimizing algorithm parameters. In the case of the pr2, odometry is published on the pr2_base_odometry topic, so we remap it. roslaunch is an important tool that manages the start and stop of ROS nodes. You can also provide assignment for private node parameters. launch to="cmd_vel_mux/input/teleop"/> remap the topic of the velocity command to cmd_vel_mux/input/teleop  Name remapping . launch文件的remap标签详解的更多相关文章 MyBatis的Mapper文件的foreach标签详解 MyBatis的Mapper文件的foreach标签用来迭代用户传递过来的Lise或者Array,让后根据迭代来拼凑或者批量处理数据. First, download following tutorials. param是ROS系统运行中的参数,存储在参数服务器中。 Then we will launch slam_toolbox to publish to /map topic and provide the map => odom transform. Visual Inertial Odometry (VIO) and Motion Capture (MoCap) systems allow vehicles to navigate when a global position source is unavailable or unreliable (e. cpp  Farvardin 10, 1399 AP remap作用域一、背景介绍三、实验过程2. 另 一个 则是这 ros launch文件 中 进行修改. The ROS launch file, Simulink using the <remap> tag in the launch that does the publishing and change the topic of the ROS Publish bock to "/cmd_vel" so that We can launch RViz and add a display type called Map and the topic name as /map. The first included element is a remapping. 1) The remap tag lets you remap topics in launch files. 昨天我們提到了使用cmd 下達publish topic的指令,今天來寫寫如何用腳本自動執行~~. Launch-File Elemente: • <remap> - XML-Element zum Remappen von Topics. 关于remap标签 动手学ROS(6):命名空间之group与remap. The ``remap`` command allows to change the definition of the ``turtlebot_teleop_keyboard/cmd_vel`` to the topic defined in the turtlebot robot. In this tutorial I’ll show you a ROS2 launch file example and we’ll build it step by step. rviz allows real-time viewing of the vehicle’s local position and attitude, lidar data and cartographer’s 3D map. Design tip: Use topic remapping when a given type of information is published on different topics in different situations. The <remap> tag applies to all subsequent declarations in its scope (<launch>, <node> or <group>). bag /foo:=/bar foo is the original topic, bar is the target topic to become. That launch file will be as shown below, but you will need to replace the "XXXXXX" with the appropriate topic. This feature of ROS allows you to defer complex name assignments to the actual runtime loading of the system. 由于Topic的应用无处不在,ros提供了remap命令来方便地修改topic的名称及命名空间。这里需要指出remap的两个主要用法: 更改topic名称; 更改topic的命名空间 如同前一节,假设我们创建了一个功能包ros_tutorials_topic,这个功能包主要的作用就是向初学者演示两个节点如何通过话题(topic)来通信。 首先,这个功能包中会有两个节点(也就是会生成两个可执行文件),一个是话题发布节点,一个是话题订阅节点。 remap. In our 'left' side bash terminal, hit CTRL-C to quit out of our launch file. The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a <node> directly. However, this led to issues when scaling to more complicated drivers or when composing simple launch files. Node can also provide or use a Service. 兩年前寫的ROS筆記中有稍微提到一點roslaunch的部分,如今回頭看覺得也寫得太簡略  Agenda ROS Namespaces Launch files and remapping arguments Multi Turtlesim 15 ROS Namespaces Usually topics related to a specific robot will be mapped  2 days ago In this tutorial I'll show you how to remap a ROS topic. bag T. Mordad 22, 1394 AP roslaunch 기능을 수행하기 위해서는 패키지 안에 launch 파일이 포함되어 있어야 <remap> -> 어떤 문자열을 전부 다른 문자열로 대응시킵니다. indoors, or when flying under a bridge. You can also provide assignment for private node ros中同时订阅两个topic(2张图像)合并成一个topic(1张图像) 2019-12-06 15:42:39 先暂时做个资料保存 要同时用两个红外相机,但是没有做硬件上的 时间戳同步,就是笔记本上同时插着两个相机. e. For most applications the choice of which ROS 2 launch format comes down to developer preference. ROS launchファイルの使い方. All current ROS middle ware implementations support it As long as all r obots use the same comm. This launch file will start the turtlesim_node and use the remap functionality to have that node listen/subscribe to the twist commands on the topic in the remapped_turtle. This is a powerful feature of ROS that lets you launch the same node under multiple configurations from the command-line. 如果有launch文件,则修改launch文件对应的topic 二、直接进行remap操作 一个是利用rosbag节点运行的时候, 将发布的主题进行修改. Any topic name changes must be done using remapping. Remapping a topic means that you'll change the topic name at run-time. For that we are going to use Robot Ignite Academy, which is avail I am running turtlebot3_navigation and want to make it subscribe to my own waypoints topic /my_waypoints rather than RVIZ's Set 2D Goal topic /move_base_simple/goal. 解析 launch 文件. Package <remap> – rename topics/services/etc. bag # Inspect bag file. Catkin. You can see in this page what you can remap, like a node name (__node), namespace (__ns), log […] Hello ROS Developers! In today’s video we are going to see how to use remap in a launch file. 这样启动launch就会出现两个节点同一个话题的情况,这不是我们想要的。 此时要在代码中对NodeHandle的构造函数加~,这时param也加上了节点名做前缀,可能还要在launch中用remap修改话题名。 param. 如果是要remap一个该 new_tf_topic_name (string, default '/tf'): The topic on which remapped TFs are published. # Replay data. py" /> </launch> If you run the launch file – roslaunch my_robot_tutorials remap_test. Recall that the map => odom transform is one of the primary requirements of the Nav2 system. launch --screen to listen to cmd_vel, and there is no cmd_vel topic, no amount of “magic” suffices. launch file, is to be able to launch the software either with the nav stack enabled or not. The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a <node> directly. Remapping Names in ROS 1. Example. topics/services) can be remapped using the syntax -r <old name>  messages on the topic chatter . launch" files as arguments. Dec 08, 2018 · roslaunchでは様々なオプションを付けてnodeを立ち上げられます。rosrunコマンドでこれと同じことをする方法を説明します。 . This is what I get: Sometimes if I refresh this I get: so the wheel_right_link and wheel_left_link switch between tb3_0/robot_state_publisher and tb3_1/robot_state_publisher. Executing launch files To execute a launch file, use the roslaunch command: 2 Figure 6. The main aim of ROS is to reuse the robotic software across the globe. launch --screen --screen 옵션을 통해 모든 노드의 출력이 한 터미널에 표시됩니다. . The GMapping package, to create maps while our robot navigates in a given environment. ROS Parameter A ROS parameter is a name that has an associated value. 首先是我们在beginner_tutorials功能包里面创建一个launch目录,然后在目录里面创建一个turtlemimic However, this led to issues when scaling to more complicated drivers or when composing simple launch files. launch I'd recommend against that - as you need to pass in some parameters and remap some topics. All resource names can be remapped. 修改显示的logger级别: ros2 run turtlesim turtlesim_node --ros-args --remap __log_level:=WARN. Launch files in ROS 1 were written in XML, so XML may be the most familiar to people coming from ROS 1. remap在node之外的作用域是他之后的所有节点,在node中的作用域是当前节点,此外要注意想要remap的话题是这个节点要接收的还是要发布的。. The <remap> tag applies to all subsequent declarations in its scope ( <launch> , <node> or <group> ). Nodes communicate with each other using messages passing via logical channels called topics. Client libraries also have APIs in code to pass remapping rules when the node is initialized. For that we are going to use Robot Ignite  Change our launch file to remap a topic name. If you went through the above link on launch files, you might have come across the terms namespaces and remapping. Each node can send or get data from the other node using the publish/subscribe model. launch scan:=some_brand/scan I don’t understand why your LiDAR publishes the map topic (does it perform SLAM?), but you most probably don’t want to use it. 在ros中,命名空间的概念是相似的,同样也是为了区分名称 Then we will launch slam_toolbox to publish to /map topic and provide the map => odom transform. The zed_display_rviz package provides three launch files (display_zed. For more, see how names are resolved in ROS. ❑roslaunch. 2实验数据记录三、实验结论四、疑问一、背景介绍小弟在ROS学习  Sign in to your account. launch which is in the rodney/launch folder. instead of using topic name remapping, some nodes accept parameters for the topic names) This is a ROS anti-pattern. I started a standalone roslisp-script using roslaunch. The messages published on the /map topic will then be used by the static layer of the global_costmap. Remapping arguments can be passed to any node and use the syntax name:=new_name. Fix flake8 linter errors Add warning message when launching Non-Uniquely Named Nodes Rename node-related parameters Fix frontend topic remapping Maintain order of parameters regarding name and from Fix push-ros-namespace in xml/yaml launch files #Using Vision or Motion Capture Systems for Position Estimation. 两个topic发布各自相机的图像,然后要有个节点同时订 The ROS Navigation Stack is a 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base. Without changing the launch and config files, you can remap topics by passing command line arguments to roslaunch, for example: roslaunch leo_navigation gmapping. 各位先進一個關於topic name 的remap 使用方法請教一下先說結果:/scan 有被remap,但是gmapping 掛掉,以下是依些細節我用turtlebot3 實作,將原本的lidar 換成另外一 . bag file. 简单来说 launch 文件就是一堆节点和参数的集合,使用 launch 文件的目的是为了一键启动。. Plz guide. Hi r/ROS,  ros2 launch file remap For that i currently have created a ROS based would need to remap or add a namespace for each of the robot nodes and topics. Tells ROS nodes asking for time to get the Gazebo-published simulation time, published over the ROS topic /clock (default true) gui. Use the <remap from="" to="" /> tag to remap a topic. 1 shows the nodes and topics that result from this launch. launch, and display_zed2i. Add nodes to the launch files for your real sensors (you will have to find ROS sensor packages for your sensors) Adjust the frame IDs and remap statements in the launch files, so the sensor data (point cloud, laser, IMU) gets into the correct ROS topics The calibration node do_calib expects the IMU data to be broadcast in the topic imu. Remap doesn't change the topic for both publishers and The launch system in ROS 2 will: convert common ROS concepts like remapping and changing the namespace into appropriate command line arguments and configurations for nodes so the user doesn’t have to do so. Remap. ROS Launch file A ROS launch file is a file used to execute multiple nodes and allows for remapping of topics, setting of parameters, and will automatically start roscore if it is not already running. new_tf_topic_name (string, default '/tf'): The topic on which remapped TFs are published. Setting Up Odometry. The default will be to have the nav stack enabled but if we want to drive the robot remotely in order to produce a new map we don't want to Enable implicit ROS startup by launch_ros actions. To launch the ROS serial node and to remap the topic, I have created a launch file, cal_imu. What I actually want to do is In my current understanding, remap can only match "child" names and replace it with whatever. ROS Befehle: • rosparam - Setzt und liest Parameter. 1. topic名を変更する(remap) ソースファイル内でトピック  Mehr 17, 1399 AP The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting  Esfand 11, 1393 AP Roslaunch is used to start a group of nodes with specific topics and value" /> <remap from="original topic name" to="new topic name"  Esfand 8, 1393 AP roslaunch arlobot_bringup minimal. For this example, I will refer to the following (as asked in this question), so how can we execute those commands consecutively & automatically : Understanding ROS 2 topics; Understanding ROS 2 services; A description of the ROS 2 launch system and its Python API can be found in remap Available in ROS 1. To see what’s changed, you can visit Migrating launch files from ROS 1 to ROS 2 . • This is a powerful feature of ROS that lets you launch the same node under multiple configurations from the command-line.