[ros-users] roslaunch - include extra launch file

Ken Conley kwc at willowgarage.com
Mon Feb 7 17:50:21 UTC 2011

On Mon, Feb 7, 2011 at 9:32 AM, koen buys <koen.buys at mech.kuleuven.be> wrote:
> On 7 February 2011 18:11, Ken Conley <kwc at willowgarage.com> wrote:
>> On Mon, Feb 7, 2011 at 6:51 AM, koen buys <koen.buys at mech.kuleuven.be> wrote:
>>> On 7 February 2011 15:32, Steven Bellens
>>> <steven.bellens at mech.kuleuven.be> wrote:
>>>> 2011/2/7 koen buys <koen.buys at mech.kuleuven.be>:
>>>>> Hi all,
>>>>> I'm including the image_view package (which is in its own launch file)
>>>>> in another launch file, when I launch this second launch file it seems
>>>>> that the image_view is executed from ~/.ros/ folder and also saves
>>>>> it output there. Is this default behavior? I would like that my
>>>>> included launch files also start from the $PWD location.
>>>> There is the cwd attribute for node elements:
>>>> http://www.ros.org/wiki/roslaunch/XML/node
>>>> I was looking for the same thing two days ago :)
>>>> Steven
>>> I'm still not getting it to work (Steven mentioned he had the same problem):
>>> process[prosilica_driver_584-2]: started with pid [2901]
>>> process[prosilica_584_image_proc-3]: started with pid [2903]
>>> Roslaunch got a 'No such file or directory' error while attempting to run:
>>> gnome-terminal -x
>>> /home/koen/ros/private-kul-ros-pkg/human_motion_capt/opencv/image_tools/bin/image_view
>>> image:=prosilica_584/image_color __name:=prosilica_viewer_color_584
>>> __log:=/home/koen/.ros/log/1e298f1e-32c9-11e0-b3e0-0024e8be2dfe/prosilica_viewer_color_584-4.log
>>> Please make sure that all the executables in this command exist and have
>>> executable permission. This is often caused by a bad launch-prefix.
>>> Without the cwd="node" it will work just fine. Or do I see the syntax
>>> here incorrectly and does the "node" need to be a name of a specific
>>> node?
>> 'node' is the correct syntax, but I'm not sure I understand the
>> problem well enough to diagnose.  Also, the 'node' syntax does not
>> give you $PWD behavior -- there is no way to specify that.   'node'
>> sets cwd to the directory of the node being launched.
>>  - Ken
> currently it is still executed from the ~/.ros  folder instead of the
> folder where the roslaunch command is executed (=PWD or CWD)

Are you sure that it's executing in ~/.ros and not image_tools/? You
can verify this by looking at the roslaunch log file.  You should see
something like:

[roslaunch][INFO] 2011-02-07 09:49:31,806: process[rosout-1]: cwd will
be [/Users/kwc/.ros]

Either way, as I mentioned before, roslaunch does not have an option
for PWD/CWD behavior.

 - Ken

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