what are the differences between "name" and "type" in roslaunch?

asked 2013-05-02 03:55:52 -0600

Mohsen Hk
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updated 2013-05-02 17:03:49 -0600

joq
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what are the differents between "name" and "type" in roslaunch for nodes?

<launch>
  <master auto="start"/>
<node pkg="tf" type="static_transform_publisher" name="fake_localize" args="0 0 0 0 0 0 map odom 10"/>
</launch>

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answered 2013-05-02 04:12:10 -0600

rohan
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updated 2013-05-02 04:13:02 -0600

Type is the file you want to launch in the package whereas the name is a unique identifier for your node.

In your example it will launch static_transform_publisher in package tf with name of the node as fake_localize.

http://www.ros.org/wiki/roslaunch/XML/node

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tnx for your link. for complete the answre, for example in my launch file >> the "fake_localize"(NAME) node is uniqe arbitrary name, (you can see in rxgraph!) using the "static_transform_publisher" (TYPE) executable from the "tf" package.

Mohsen Hk ( 2013-05-02 04:25:00 -0600 )edit

1

Yes that's right!

rohan ( 2013-05-02 04:31:03 -0600 )edit

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answered 2014-12-04 04:10:33 -0600

oogabooga

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The easiest way to find out what to initialize in the type is to go to your CMakeLists.txt. Find the line that says something like add_executable(blah_blah src/whatever.cpp) then blah_blah is the type. Another way is to cd to your /devel/lib/ folder, dig into your package and there you will see the executables(probably, in green).

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Thanks for the answer. While using C++ the "type" in launch file should be the name of the target in CMakeLists.txt, but when using Python it should be the "XXX.py", is that correct?

Fenglong ( 2022-04-14 08:53:10 -0600 )edit

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what are the differences between "name" and "type" in roslaunch?

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