Ros Launch Attribute

Attribute

pkg="mypackage"

• Package of node.

type="nodetype"

• Node type. There must be a corresponding executable with the same name.

name="nodename"

• Node name. NOTE: name cannot contain a namespace. Use the ns attribute instead.

args="arg1 arg2 arg3"(optional)

• Pass arguments to node.

machine="machine-name"(optional, see <machine>)

• Launch node on designated machine.

respawn="true"(optional, default: False)

• Restart the node automatically if it quits.

respawn_delay="30" (optional, default 0) New in ROS indigo

• If respawn is true, wait respawn_delay seconds after the node failure is detected before attempting restart.

required="true"(optional)

• ROS 0.10: If node dies, kill entire roslaunch.

ns="foo"(optional)

• Start the node in the 'foo' namespace.

clear_params="true|false"(optional)

• Delete all parameters in the node's private namespace before launch.

output="log|screen"(optional)

• If 'screen', stdout/stderr from the node will be sent to the screen. If 'log', the stdout/stderr output will be sent to a log file in $ROS_HOME/log, and stderr will continue to be sent to screen. The default is 'log'.

cwd="ROS_HOME|node"(optional)

• If 'node', the working directory of the node will be set to the same directory as the node's executable. In C Turtle, the default is 'ROS_HOME'. In Box Turtle (ROS 1.0.x), the default is 'ros-root'. The use of 'ros-root' is deprecated in C Turtle.

launch-prefix="prefix arguments"(optional)

• Command/arguments to prepend to node's launch arguments. This is a powerful feature that enables you to enable gdb, valgrind, xterm, nice, or other handy tools. See Roslaunch Nodes in Valgrind or GDB for examples.