Constraints on Nested Tags in Launch Files
What kinds of tag nesting are allowed in ROS launch files?
For instance, I know I can have global params within the <launch>
tag as well as node params within a specific <node>
tag.
But can other things be nested inside of the <node>
tag, such as <rosparam>
, <include>
, other <node>
tags?
Example 1:
<node>
<rosparam ... some-file.yml />
</node>
Example 2:
<node>
<include ... />
</node>
Example 3:
<node>
<node ... >
...
</node>
</node>
It seems like example 3 would be illegal, but I am unsure about example 1 and 2. Any help is appreciated.