[ros-users] Is there a way for roslaunch to run nodes in the current directory?

Jack O'Quin jack.oquin at gmail.com
Wed Mar 3 04:38:39 UTC 2010

On Sat, Feb 27, 2010 at 12:47 PM, Rosen Diankov <rosen.diankov at gmail.com> wrote:
> with regards to reading files on the system (which will always be
> necessary unless morgan/brian/ken/josh plan on developing a FS on top
> of ROS), wasn't there some helper functions makes locating files in
> ros packages easier? For example specifying a filename of
> "ros-pkg://pkgname/myfile" will automatically look for myfile in
> pkgname. In regards to roslaunch, you can specify files using $(find
> pkgname)/myfile, although the node itself will lose the knowledge that
> myfile came from a ROS package.
> The decision to set the working directory to ros-root for all nodes
> makes file usage more explicit, and hence easier for others to work
> with and understand what's going on. If octave had a better way of
> managing paths, perhaps there wouldn't be a need for 'cwd' at all ;0)

This seems to suggest that only package files should be read or
written from roslaunch.

I am concerned with establishing a clean test methodology with the
ability to read and write bag files obtained on the robot. Experience
suggests that using SVN for that purpose works OK only as long as the
bag files are moderately small, but for Velodyne LIDAR or camera data
the files get too large for SVN to handle efficiently (many megabytes
per second).

How do the ROS developers deal with this problem? Log files are
automatically saved in ~/.ros/log subdirectories.  Is there some
equivalent method for saving bags? Should they be saved in the same
subdirectory? How does roslaunch support this methodology?

Do I need to create test directories with manifest.xml files to fit
the procrustean bed of roslaunch? What is the recommended method of
archiving these data?

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