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Add XML/YAML launch equivalents for large project tutorial (backport #6021) (#6087)
* Add XML/YAML launch equivalents for large project tutorial (#6021) Signed-off-by: Luke Sy <[email protected]> Signed-off-by: Katherine Scott <[email protected]> Co-authored-by: Katherine Scott <[email protected]> (cherry picked from commit 536c723) # Conflicts: # source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst * docs: resolve merge conflicts in launch tutorial (#6091) Remove conflict markers, keep multi-format references, and fix PushRosNamespace capitalization. Signed-off-by: Luke Sy <[email protected]> --------- Signed-off-by: Luke Sy <[email protected]> Co-authored-by: lsy3 <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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‎source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst‎

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source/Tutorials/Intermediate/Launch/launch/broadcast_listener_launch.py renamed to source/Tutorials/Intermediate/Launch/launch/broadcaster_listener_launch.py

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‎source/Tutorials/Intermediate/Launch/launch/broadcaster_listener_launch.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="target_frame" default="turtle1" description="Target frame name." />
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<node pkg="turtle_tf2_py" exec="turtle_tf2_broadcaster" name="broadcaster1">
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<param name="turtlename" value="turtle1" />
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</node>
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<node pkg="turtle_tf2_py" exec="turtle_tf2_broadcaster" name="broadcaster2">
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<param name="turtlename" value="turtle2" />
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</node>
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<node pkg="turtle_tf2_py" exec="turtle_tf2_listener" name="listener">
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<param name="target_frame" value="$(var target_frame)" />
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</node>
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</launch>
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‎source/Tutorials/Intermediate/Launch/launch/broadcaster_listener_launch.yaml‎

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%YAML 1.2
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---
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launch:
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- arg:
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name: "target_frame"
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default: "turtle1"
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description: "Target frame name."
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- node:
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pkg: "turtle_tf2_py"
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exec: "turtle_tf2_broadcaster"
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name: "broadcaster1"
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param:
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- name: "turtlename"
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value: "turtle1"
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- node:
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pkg: "turtle_tf2_py"
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exec: "turtle_tf2_broadcaster"
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name: "broadcaster2"
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param:
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- name: "turtlename"
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value: "turtle2"
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- node:
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pkg: "turtle_tf2_py"
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exec: "turtle_tf2_listener"
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name: "listener"
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param:
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- name: "target_frame"
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value: "$(var target_frame)"
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‎source/Tutorials/Intermediate/Launch/launch/fixed_broadcaster_launch.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="node_prefix" default="$(env USER '')_" description="prefix for node name" />
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<node pkg="turtle_tf2_py" exec="fixed_frame_tf2_broadcaster" name="$(var node_prefix)fixed_broadcaster" />
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</launch>
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‎source/Tutorials/Intermediate/Launch/launch/fixed_broadcaster_launch.yaml‎

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%YAML 1.2
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---
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launch:
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- arg:
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name: "node_prefix"
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default: "$(env USER '')_"
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description: "prefix for node name"
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- node:
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pkg: "turtle_tf2_py"
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exec: "fixed_frame_tf2_broadcaster"
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name: "$(var node_prefix)fixed_broadcaster"
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‎source/Tutorials/Intermediate/Launch/launch/launch_turtlesim_launch.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<include file="$(find-pkg-share launch_tutorial)/launch/turtlesim_world_1_launch.xml" />
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<include file="$(find-pkg-share launch_tutorial)/launch/turtlesim_world_2_launch.xml" />
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<include file="$(find-pkg-share launch_tutorial)/launch/broadcaster_listener_launch.xml">
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<let name="target_frame" value="carrot1" />
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</include>
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<include file="$(find-pkg-share launch_tutorial)/launch/mimic_launch.xml" />
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<include file="$(find-pkg-share launch_tutorial)/launch/fixed_broadcaster_launch.xml" />
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<include file="$(find-pkg-share launch_tutorial)/launch/turtlesim_rviz_launch.xml" />
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</launch>
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‎source/Tutorials/Intermediate/Launch/launch/launch_turtlesim_launch.yaml‎

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%YAML 1.2
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---
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launch:
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- include:
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file: "$(find-pkg-share launch_tutorial)/launch/turtlesim_world_1_launch.yaml"
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- include:
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file: "$(find-pkg-share launch_tutorial)/launch/turtlesim_world_2_launch.yaml"
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- include:
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file: "$(find-pkg-share launch_tutorial)/launch/broadcaster_listener_launch.yaml"
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let:
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- name: "target_frame"
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value: "carrot1"
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- include:
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file: "$(find-pkg-share launch_tutorial)/launch/mimic_launch.yaml"
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- include:
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file: "$(find-pkg-share launch_tutorial)/launch/fixed_broadcaster_launch.yaml"
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- include:
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file: "$(find-pkg-share launch_tutorial)/launch/turtlesim_rviz_launch.yaml"
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‎source/Tutorials/Intermediate/Launch/launch/mimic_launch.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<node pkg="turtlesim" exec="mimic" name="mimic">
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<remap from="/input/pose" to="/turtle2/pose" />
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<remap from="/output/cmd_vel" to="/turtlesim2/turtle1/cmd_vel" />
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</node>
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</launch>
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‎source/Tutorials/Intermediate/Launch/launch/mimic_launch.yaml‎

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%YAML 1.2
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---
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launch:
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- node:
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pkg: "turtlesim"
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exec: "mimic"
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name: "mimic"
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remap:
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- from: "/input/pose"
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to: "/turtle2/pose"
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- from: "/output/cmd_vel"
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to: "/turtlesim2/turtle1/cmd_vel"
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