launch_srv

---

A ROS2 package for calling launch files from a ROS service

ROS version	Branch
ROS2	ros2
ROS1	ros1

📝 Table of Contents

• About
• Getting Started
• Usage
• Feature requests
• Contributing
• Author

🧐 About

launch_srv is a ROS package that provides:

• A service definition (Launch.srv) for calling launch files;
• A service server (launch_server.py) that implements this call;
• A launch file (foxglove.launch.py) that launches both the service server and foxglove_bridge.

🏁 Getting Started

This repo is a standard ROS2 package (ament_cmake).

🛠 Prerequisites

• A ROS2 workspace (colcon)

  • See this tutorial to learn how to create your own workspace.

• Foxglove bridge

  • sudo apt install ros-<distro>-foxglove-bridge

💻 Installing

As mentioned above, this repo is a standard ROS2 package. Thus, you simply have to clone it inside your workspace's src directory, making sure to use the ros2 branch.

cd <path_to_your_ros2_ws>/src
git clone -b ros2 https://github.com/leggedrobotics-usp/launch_srv.git

Then, use colcon to build.

cd <path_to_your_ros2_ws>
colcon build --symlink-install

🎈 Usage

Run the service server:

ros2 run launch_srv launch_server.py

Each service call will trigger the corresponding launch file on a separate process. Configure the inputs as follows:

• package_name (string): the name of the package that contains the desired launch file;
• launch_file (string): the launch file name (complete, with extension);
• parameters (string): if necessary, input the parameter list;
• terminate (boolean): set to false to start the launch process, or true to terminate it.

If you want to call the service using Foxglove Studio, use the included launch file instead:

ros2 launch launch_srv foxglove.launch.py

🔋 Feature requests

Want a new feature? Open an Enhancement issue describing it.

🤝 Contributing

• Fork the repo
  • https://github.com/leggedrobotics-usp/launch_srv/fork
• Check out a new branch (from the ros2 branch) and name it to what you intend to do:

  • git checkout -b BRANCH_NAME

• Commit your changes
  • Please provide a git message that explains what you've done;
  • Commit to the forked repository.

    git commit -m "A short and relevant message"

• Push to the branch

  • git push origin BRANCH_NAME

• Make a pull request!

✍️ Author

_{Victor T. N. 🤖}

Made with ❤️ by @Vtn21