Xml Format

Naming

By convention rocon_launch files are named with the extension .concert. These are able to be tab-completed on the command line when executing rocon_launch.

Tags

concert

Attributes

None

Elements

• <launch> - describe a roslaunch environment
• <arg> - declare a roslaunch style argument.

launch

Attributes

• title - string to use to set the title of the terminal in the window decoration, this helps you quickly identify windows when tabbing through them.
• package - name of the package in which the roslaunch file can be found (optional)
• name - name of the roslaunch file to execute (if no package, then this must be a full path to the roslauncher)
• port - identifies which ros master to roslaunch in (i.e. ROS_MASTER_URI=http://localhost:_port_)

Elements

• <arg> - pass an argument into the roslauncher.

arg

Usage

This tag has exactly the same properties as the roslaunch arg tag. They can be used in one of three ways

<arg name="foo" />

Declares the existence of foo. foo must be passed in either as a command-line argument (if top-level) or via <include> passing (if included).

<arg name="foo" default="1" />

Declares foo with a default value. foo can be overriden by command-line argument (if top-level) or via <include> passing (if included).

<arg name="foo" value="bar" />

Declares foo with constant value. The value for foo cannot be overridden. This usage enables internal parameterization of a launch file without exposing that parameterization at higher levels.

Attributes

• name - name of th argument
• default - default value (optional)
• value - argument value, cannot be defined with the default attribute (optional)

Elements

None

Examples

Single master multi-launcher running talker in one window and listener in another. The topic name can be pre-configured via the topic_name arg.

<concert>
  <arg name="topic_name" default="chatter"/>

  <launch title="talker" package="rocon_launch" name="talker.xml" port="11311">
    <arg name="topic_name" value="$(arg topic_name)"/>
  </launch>
  <launch title="listener" package="rocon_launch" name="listener.xml" port="11311">
    <arg name="topic_name" value="$(arg topic_name)"/>
  </launch>
</concert>

A multi-master chatter concert:

<concert>
  <arg name="local_machine_only" default="true"/>  <!-- only invite clients if they are on the same pc -->

  <launch title="concert:11311" package="chatter_concert" name="concert.launch" port="11311">
    <arg name="local_machine_only" value="$(arg local_machine_only)"/>
  </launch>
  <launch title="dudette:11312"    package="chatter_concert" name="dudette.launch" port="11312"/>
  <launch title="dude:11313"    package="chatter_concert" name="dude.launch" port="11313"/>
  <launch title="dude:11314"    package="chatter_concert" name="dude.launch" port="11314"/>
</concert>