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multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

Package Summary

A node which loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

multi_master_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

Package Summary

A node which loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

multi_master_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

The configuration node loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

The configuration node loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

The configuration node loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

The configuration node loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

The configuration node loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

The configuration node loads a given launch configuration and offers services to list or start the contained nodes. It provides additional description extracted from launch file. This is used by node_manager_fkie.

Default Configuration Manual on GitHub

Overview

The default_cfg node offers a list of nodes, which can be started by calling a service with name of the node. Thus the needed nodes can be launched on demand without knowing the details of the configuration to run those. To configure the list with nodes a ROS launch file is used.

Additional node description

While loading a launch file by the default_cfg some addtional parameters are parsed to obtain a description of robots, nodes and capabilities configured by the launch file. This description is used in Node manager to show additional information for nodes. The detailed description shows the usage of additional description.

Usage

Getting started

Although the node is written in Python we need to generate message and service types:

rosmake default_cfg_fkie

catkin_make

Run the node:

rosrun default_cfg_fkie default_cfg _package:=@PACKAGE_NAME@ _launch_file:=@FILE_NAME@

You can run the node without parameter and use the ~load service to load a launch configuration.

Interface

Services

~list_nodes (default_cfg_fkie/ListNodes)
  • The list with all managed nodes.
~run (default_cfg_fkie/Task)
  • Runs the node with given name.
~description (default_cfg_fkie/ListDescription)
  • Returns the description extracted from the launch file.

Services

~list_nodes (multimaster_msgs_fkie/ListNodes)
  • The list with all managed nodes.
~run (multimaster_msgs_fkie/Task)
  • Runs the node with given name.
~description (multimaster_msgs_fkie/ListDescription)
  • Returns the description extracted from the launch file.
~reload (std_srvs/Empty)
  • Reloads the current configuration.

Parameters

~package (String, default: '') ~launch_file (String, default: '') ~argv (list, default: [str])


2019-09-14 12:38