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

Kevin Watts watts at willowgarage.com
Wed Mar 3 04:51:00 UTC 2010

On the PR2, we save our diagnostics logs to the '/hwlog' directory. I think
some power monitor logs are in a subdirectory of '/hwlog'. I think that's a
good place to put large bagfiles. Using rosbag options, you can record in
"chunks" of a few gigs, and offload them from the robot using an rsync


On Tue, Mar 2, 2010 at 8:38 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:

> 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?
> --
>  joq
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