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Add XML/YAML launch equivalents for large project tutorial #6021

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8058e53
Add XML/YAML launch equivalents for large project tutorial
lsy3 Nov 16, 2025
104b801
Merge branch 'rolling' into 6006-large-proj-xml-yaml-launch
lsy3 Nov 16, 2025
61fcdda
revert launch_turtlesim_launch.py to original
lsy3 Nov 16, 2025
dd75263
Merge branch 'rolling' into 6006-large-proj-xml-yaml-launch
lsy3 Nov 18, 2025
e76716d
docs: use let instead of arg in include statements
lsy3 Nov 18, 2025
55f3cca
Merge branch 'rolling' into 6006-large-proj-xml-yaml-launch
lsy3 Nov 19, 2025
e90c39f
docs: highlight turtlesim3 namespace in turtlesim_world_3 examples
lsy3 Nov 26, 2025
e8cef15
Merge branch 'rolling' into 6006-large-proj-xml-yaml-launch
lsy3 Nov 26, 2025
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324 changes: 275 additions & 49 deletions source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst
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0 ...aunch/launch/broadcast_listener_launch.py → ...nch/launch/broadcaster_listener_launch.py
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14 changes: 14 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/broadcaster_listener_launch.xml
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="target_frame" default="turtle1" description="Target frame name." />
<node pkg="turtle_tf2_py" exec="turtle_tf2_broadcaster" name="broadcaster1">
<param name="turtlename" value="turtle1" />
</node>
<node pkg="turtle_tf2_py" exec="turtle_tf2_broadcaster" name="broadcaster2">
<param name="turtlename" value="turtle2" />
</node>
<node pkg="turtle_tf2_py" exec="turtle_tf2_listener" name="listener">
<param name="target_frame" value="$(var target_frame)" />
</node>
</launch>

29 changes: 29 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/broadcaster_listener_launch.yaml
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%YAML 1.2
---
launch:
- arg:
name: "target_frame"
default: "turtle1"
description: "Target frame name."
- node:
pkg: "turtle_tf2_py"
exec: "turtle_tf2_broadcaster"
name: "broadcaster1"
param:
- name: "turtlename"
value: "turtle1"
- node:
pkg: "turtle_tf2_py"
exec: "turtle_tf2_broadcaster"
name: "broadcaster2"
param:
- name: "turtlename"
value: "turtle2"
- node:
pkg: "turtle_tf2_py"
exec: "turtle_tf2_listener"
name: "listener"
param:
- name: "target_frame"
value: "$(var target_frame)"

6 changes: 6 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/fixed_broadcaster_launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="node_prefix" default="$(env USER '')_" description="prefix for node name" />
<node pkg="turtle_tf2_py" exec="fixed_frame_tf2_broadcaster" name="$(var node_prefix)fixed_broadcaster" />
</launch>

12 changes: 12 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/fixed_broadcaster_launch.yaml
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%YAML 1.2
---
launch:
- arg:
name: "node_prefix"
default: "$(env USER '')_"
description: "prefix for node name"
- node:
pkg: "turtle_tf2_py"
exec: "fixed_frame_tf2_broadcaster"
name: "$(var node_prefix)fixed_broadcaster"

12 changes: 12 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/launch_turtlesim_launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<include file="$(find-pkg-share launch_tutorial)/launch/turtlesim_world_1_launch.xml" />
<include file="$(find-pkg-share launch_tutorial)/launch/turtlesim_world_2_launch.xml" />
<include file="$(find-pkg-share launch_tutorial)/launch/broadcaster_listener_launch.xml">
<let name="target_frame" value="carrot1" />
</include>
<include file="$(find-pkg-share launch_tutorial)/launch/mimic_launch.xml" />
<include file="$(find-pkg-share launch_tutorial)/launch/fixed_broadcaster_launch.xml" />
<include file="$(find-pkg-share launch_tutorial)/launch/turtlesim_rviz_launch.xml" />
</launch>

19 changes: 19 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/launch_turtlesim_launch.yaml
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%YAML 1.2
---
launch:
- include:
file: "$(find-pkg-share launch_tutorial)/launch/turtlesim_world_1_launch.yaml"
- include:
file: "$(find-pkg-share launch_tutorial)/launch/turtlesim_world_2_launch.yaml"
- include:
file: "$(find-pkg-share launch_tutorial)/launch/broadcaster_listener_launch.yaml"
let:
- name: "target_frame"
value: "carrot1"
- include:
file: "$(find-pkg-share launch_tutorial)/launch/mimic_launch.yaml"
- include:
file: "$(find-pkg-share launch_tutorial)/launch/fixed_broadcaster_launch.yaml"
- include:
file: "$(find-pkg-share launch_tutorial)/launch/turtlesim_rviz_launch.yaml"

8 changes: 8 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/mimic_launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<node pkg="turtlesim" exec="mimic" name="mimic">
<remap from="/input/pose" to="/turtle2/pose" />
<remap from="/output/cmd_vel" to="/turtlesim2/turtle1/cmd_vel" />
</node>
</launch>

13 changes: 13 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/mimic_launch.yaml
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%YAML 1.2
---
launch:
- node:
pkg: "turtlesim"
exec: "mimic"
name: "mimic"
remap:
- from: "/input/pose"
to: "/turtle2/pose"
- from: "/output/cmd_vel"
to: "/turtlesim2/turtle1/cmd_vel"

6 changes: 6 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_rviz_launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<node pkg="rviz2" exec="rviz2" name="rviz2"
args="-d $(find-pkg-share turtle_tf2_py)/rviz/turtle_rviz.rviz" />
</launch>

9 changes: 9 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_rviz_launch.yaml
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%YAML 1.2
---
launch:
- node:
pkg: "rviz2"
exec: "rviz2"
name: "rviz2"
args: "-d $(find-pkg-share turtle_tf2_py)/rviz/turtle_rviz.rviz"

12 changes: 12 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_world_1_launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="background_r" default="0" />
<arg name="background_g" default="84" />
<arg name="background_b" default="122" />
<node pkg="turtlesim" exec="turtlesim_node" name="sim">
<param name="background_r" value="$(var background_r)" />
<param name="background_g" value="$(var background_g)" />
<param name="background_b" value="$(var background_b)" />
</node>
</launch>

24 changes: 24 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_world_1_launch.yaml
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%YAML 1.2
---
launch:
- arg:
name: "background_r"
default: "0"
- arg:
name: "background_g"
default: "84"
- arg:
name: "background_b"
default: "122"
- node:
pkg: "turtlesim"
exec: "turtlesim_node"
name: "sim"
param:
- name: "background_r"
value: "$(var background_r)"
- name: "background_g"
value: "$(var background_g)"
- name: "background_b"
value: "$(var background_b)"

7 changes: 7 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_world_2_launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<node pkg="turtlesim" exec="turtlesim_node" namespace="turtlesim2" name="sim">
<param from="$(find-pkg-share launch_tutorial)/config/turtlesim.yaml" />
</node>
</launch>

11 changes: 11 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_world_2_launch.yaml
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%YAML 1.2
---
launch:
- node:
pkg: "turtlesim"
exec: "turtlesim_node"
namespace: "turtlesim2"
name: "sim"
param:
- from: "$(find-pkg-share launch_tutorial)/config/turtlesim.yaml"

7 changes: 7 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_world_3_launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<node pkg="turtlesim" exec="turtlesim_node" namespace="turtlesim3" name="sim">
<param from="$(find-pkg-share launch_tutorial)/config/turtlesim.yaml" />
</node>
</launch>

11 changes: 11 additions & 0 deletions source/Tutorials/Intermediate/Launch/launch/turtlesim_world_3_launch.yaml
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%YAML 1.2
---
launch:
- node:
pkg: "turtlesim"
exec: "turtlesim_node"
namespace: "turtlesim3"
name: "sim"
param:
- from: "$(find-pkg-share launch_tutorial)/config/turtlesim.yaml"