Add XML/YAML launch file equivalents to Tf2 tutorials (#6031) (#6161)

(cherry picked from commit 81786ba)

Signed-off-by: Luke Sy <[email protected]>
Co-authored-by: lsy3 <[email protected]>

Author: mergify[bot]

source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.rst

@@ -182,18 +182,48 @@ Finally, add the ``install(TARGETS…)`` section so ``ros2 run`` can find your e
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Now let's create a launch file for this example.
-With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch.py`` in the ``src/learning_tf2_cpp/launch`` directory, and add the following lines:
+With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_cpp/launch`` directory, and add the following lines:
 
-.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
 
 This launch file imports the required packages and then creates a ``demo_nodes`` variable that will store nodes that we created in the previous tutorial's launch file.
 
 The last part of the code will add our fixed ``carrot1`` frame to the turtlesim world using our ``fixed_frame_tf2_broadcaster`` node.
 
-.. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
-    :lines: 14-18
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+        :lines: 14-18
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+        :lines: 3-4
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
+        :lines: 6-9
 
 1.4 Build
 ~~~~~~~~~
@@ -275,7 +305,7 @@ Now you can start the turtle broadcaster demo:
 
 .. code-block:: console
 
-    $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.py
+    $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.xml # .py or .yaml are also acceptable
 
 You should notice that the new ``carrot1`` frame appeared in the transformation tree.
 
@@ -290,7 +320,7 @@ One way is to pass the ``target_frame`` argument to the launch file directly fro
 
 .. code-block:: console
 
-    $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.py target_frame:=carrot1
+    $ ros2 launch learning_tf2_cpp turtle_tf2_fixed_frame_demo_launch.xml target_frame:=carrot1 # .py or .yaml are also acceptable
 
 The second way is to update the launch file.
 To do so, open the ``turtle_tf2_fixed_frame_demo_launch.py`` file, and add the ``'target_frame': 'carrot1'`` parameter via ``launch_arguments`` argument.
@@ -442,10 +472,24 @@ Finally, add the ``install(TARGETS…)`` section so ``ros2 run`` can find your e
 2.3 Write the launch file
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
-To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch.py`` in the ``src/learning_tf2_cpp/launch`` directory and paste the following code:
+To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_cpp/launch`` directory and paste the following code:
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
 
-.. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.py
-    :language: python
+    .. literalinclude:: launch/turtle_tf2_dynamic_frame_demo_launch.yaml
+        :language: yaml
 
 
 2.4 Build
@@ -528,7 +572,7 @@ Now you can start the dynamic frame demo:
 
 .. code-block:: console
 
-    $ ros2 launch learning_tf2_cpp turtle_tf2_dynamic_frame_demo_launch.py
+    $ ros2 launch learning_tf2_cpp turtle_tf2_dynamic_frame_demo_launch.xml # .py or .yaml are also acceptable
 
 You should see that the second turtle is following the carrot's position that is constantly changing.
 

source/Tutorials/Intermediate/Tf2/Adding-A-Frame-Py.rst

@@ -159,19 +159,49 @@ Add the following line between the ``'console_scripts':`` brackets:
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
 Now let's create a launch file for this example.
-With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch.py`` in the ``src/learning_tf2_py/launch`` directory, and add the following lines:
+With your text editor, create a new file called ``turtle_tf2_fixed_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_py/launch`` directory, and add the following lines:
 
-.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
-    :name: turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
+        :name: turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
 
 This launch file imports the required packages and then creates a ``demo_nodes`` variable that will store nodes that we created in the previous tutorial's launch file.
 
 The last part of the code will add our fixed ``carrot1`` frame to the turtlesim world using our ``fixed_frame_tf2_broadcaster`` node.
 
-.. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
-    :language: python
-    :lines: 14-18
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.py
+        :language: python
+        :lines: 14-18
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.xml
+        :language: xml
+        :lines: 3-4
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/py_turtle_tf2_fixed_frame_demo_launch.yaml
+        :language: yaml
+        :lines: 6-9
 
 1.4 Build
 ~~~~~~~~~
@@ -253,7 +283,7 @@ Now you can start the turtle broadcaster demo:
 
 .. code-block:: console
 
-    $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.py
+    $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.xml # .py or .yaml are also acceptable
 
 You should notice that the new ``carrot1`` frame appeared in the transformation tree.
 
@@ -268,7 +298,7 @@ One way is to pass the ``target_frame`` argument to the launch file directly fro
 
 .. code-block:: console
 
-    $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.py target_frame:=carrot1
+    $ ros2 launch learning_tf2_py turtle_tf2_fixed_frame_demo_launch.xml target_frame:=carrot1 # .py or .yaml are also acceptable
 
 The second way is to update the launch file.
 To do so, open the ``turtle_tf2_fixed_frame_demo_launch.py`` file, and add the ``'target_frame': 'carrot1'`` parameter via ``launch_arguments`` argument.
@@ -398,10 +428,24 @@ Add the following line between the ``'console_scripts':`` brackets:
 2.3 Write the launch file
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
-To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch.py`` in the ``src/learning_tf2_py/launch`` directory and paste the following code:
+To test this code, create a new launch file ``turtle_tf2_dynamic_frame_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``src/learning_tf2_py/launch`` directory and paste the following code:
+
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.py
+        :name: turtle_tf2_dynamic_frame_demo_launch.py
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
 
-.. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.py
-    :name: turtle_tf2_dynamic_frame_demo_launch.py
+    .. literalinclude:: launch/py_turtle_tf2_dynamic_frame_demo_launch.yaml
+        :language: yaml
 
 
 2.4 Build
@@ -485,7 +529,7 @@ Now you can start the dynamic frame demo:
 
 .. code-block:: console
 
-    $ ros2 launch learning_tf2_py turtle_tf2_dynamic_frame_demo_launch.py
+    $ ros2 launch learning_tf2_py turtle_tf2_dynamic_frame_demo_launch.xml # .py or .yaml are also acceptable
 
 You should see that the second turtle is following the carrot's position that is constantly changing.
 

source/Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.rst

@@ -70,18 +70,48 @@ to
     } catch (const tf2::TransformException & ex) {
 
 And save changes to the file.
-In order to run this demo, we need to create a launch file ``start_tf2_debug_demo_launch.py`` in the ``launch`` subdirectory of package ``learning_tf2_cpp``:
+In order to run this demo, we need to create a launch file ``start_tf2_debug_demo_launch`` with extension ``.py``, ``.xml``, or ``.yaml`` in the ``launch`` subdirectory of package ``learning_tf2_cpp``:
 
-.. literalinclude:: launch/start_tf2_debug_demo_launch.py
-   :language: python
+.. tabs::
+
+  .. group-tab:: Python
+
+    .. literalinclude:: launch/start_tf2_debug_demo_launch.py
+        :language: python
+
+  .. group-tab:: XML
+
+    .. literalinclude:: launch/start_tf2_debug_demo_launch.xml
+        :language: xml
+
+  .. group-tab:: YAML
+
+    .. literalinclude:: launch/start_tf2_debug_demo_launch.yaml
+        :language: yaml
 
 Don't forget to add the ``turtle_tf2_listener_debug`` executable to the ``CMakeLists.txt`` and build the package.
 
 Now let's run it to see what happens:
 
-.. code-block:: console
+.. tabs::
+
+  .. group-tab:: XML
+
+    .. code-block:: console
 
-   $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.xml
+
+  .. group-tab:: YAML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.yaml
+
+  .. group-tab:: Python
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
 
 You will now see that the turtlesim came up.
 At the same time, if you run the ``turtle_teleop_key`` in another terminal window, you can use the arrow keys to drive the ``turtle1`` around.
@@ -153,13 +183,37 @@ To fix this bug, just replace ``turtle3`` with ``turtle2`` in line 65.
 
 And now stop the running demo, build it, and run it again:
 
-.. code-block:: console
+.. tabs::
+
+  .. group-tab:: XML
 
-   $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
-   [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
-   transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
-   time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
-   transform from frame [turtle1] to frame [turtle2]
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.xml
+        [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
+        transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
+        time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
+        transform from frame [turtle1] to frame [turtle2]
+
+  .. group-tab:: YAML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.yaml
+        [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
+        transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
+        time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
+        transform from frame [turtle1] to frame [turtle2]
+
+  .. group-tab:: Python
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp start_tf2_debug_demo_launch.py
+        [turtle_tf2_listener_debug-4] [INFO] [1630223704.617382464] [listener_debug]: Could not
+        transform turtle2 to turtle1: Lookup would require extrapolation into the future. Requested
+        time 1630223704.617054 but the latest data is at time 1630223704.616726, when looking up
+        transform from frame [turtle1] to frame [turtle2]
 
 And right away we run into the next problem.
 
@@ -201,9 +255,25 @@ In the new code we are asking for the transform between the turtles 100 millisec
 It is usual to use a longer periods, just to make sure that the transform will arrive.
 Stop the demo, build and run:
 
-.. code-block:: console
+.. tabs::
+
+  .. group-tab:: XML
+
+    .. code-block:: console
+
+        $ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.xml
+
+  .. group-tab:: YAML
+
+    .. code-block:: console
+
+        $ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.yaml
+
+  .. group-tab:: Python
+
+    .. code-block:: console
 
-   $ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.py
+        $ ros2 launch turtle_tf2 start_tf2_debug_demo_launch.py
 
 And you should finally see the turtle move!
 

source/Tutorials/Intermediate/Tf2/Learning-About-Tf2-And-Time-Cpp.rst

@@ -70,7 +70,7 @@ Now build the package and try to run the launch file.
 
 .. code-block:: console
 
-   $ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.py
+   $ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.xml # .py or .yaml are also acceptable
    [INFO] [1629873136.345688064] [listener]: Could not transform turtle2 to turtle1: Lookup would
    require extrapolation into the future.  Requested time 1629873136.345539 but the latest data
    is at time 1629873136.338804, when looking up transform from frame [turtle1] to frame [turtle2]
@@ -108,9 +108,25 @@ It will block for up to that duration waiting for it to timeout.
 
 You can now build the package and run the launch file.
 
-.. code-block:: console
+.. tabs::
+
+  .. group-tab:: XML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.xml
+
+  .. group-tab:: YAML
+
+    .. code-block:: console
+
+        $ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.yaml
+
+  .. group-tab:: Python
+
+    .. code-block:: console
 
-   $ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.py
+        $ ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.py
 
 You should notice that ``lookupTransform()`` will actually block until the transform between the two turtles becomes available (this will usually take a few milliseconds).
 Once the timeout has been reached (fifty milliseconds in this case), an exception will be raised only if the transform is still not available.