How do I start a node with an anonymous name with roslaunch?

asked 2011-07-14 21:54:26 -0600

Benoit Larochelle

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updated 2011-07-16 13:02:34 -0600

kwc
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I have a node that passes the following argument when calling ros::init:

ros::init_options::AnonymousName

It works fine and gives me a unique node name. However, when I launch this node from a roslaunch file, it does not create a unique node name anymore.

How do I fix this?

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answered 2011-07-15 04:25:13 -0600

kwc
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Please see: http://www.ros.org/wiki/roslaunch/XML

" $(anon name)

e.g. $(anon rviz-1). Generates an anonymous id based on name. name itself is a unique identifier: multiple uses of $(anon foo) will create the same "anonymized" name. This is used for <node> name attributes in order to create nodes with anonymous names, as ROS requires nodes to have unique names. "

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Is there a way to actually generate random ids/names then?

F1iX ( 2020-10-01 05:23:20 -0600 )edit

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answered 2011-07-14 21:59:56 -0600

dornhege

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The "name" tag in roslaunch will override this name. The fix would be to use unique names in the name tag.

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This would work in some situations, but in my case I distribute the same launch file (via SVN) to many collegues, and of course I can't ask all of them to modify the launch file manually at every update that I make.

Benoit Larochelle ( 2011-07-14 23:34:36 -0600 )edit

I think I don't quite understand the problem here. Why should one want to run the same node in parallel several times on one core? Either you have the same node with different parameters, i.e. different launch files or one instance is enough. Maybe you can make your application a little bit clearer?

Lorenz ( 2011-07-15 01:28:45 -0600 )edit

Why would anyone need to modify the launch file, if it contains different names for the same (multiple) nodes?

dornhege ( 2011-07-15 02:31:59 -0600 )edit

1

You might want to launch the same launch file several times. Such as a system with many homogeneous robots.