ros2 remap topic launch file

So, when this node subscribes to topic "chatter" in its source code, it is remapped to actually subscribe to "hello", so that it ends up receiving any messages published by other ROS nodes to "hello". They are the same type, and you want to pipe your "hello" topic into the new node which wants "chatter". This action can be used as a workaround: It's a replacement of arg tag with a value attribute. The tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a directly. A tag already exists with the provided branch name. Remapping affects both which topics a node subscribes to or publishes to. , ~joy , joy_node /joy /rc/joy I am not sure what is the syntax to do so in a top-level launch file to have it propagated to a nested launch file. Launch file examples Below is a launch file implemented in Python, XML, and YAML. , Topic remap publish topic remap subscribe -->, Qiita Advent Calendar 2022, You can efficiently read back useful information. Migrating tags from ROS 1 to ROS 2 launch Available in ROS 1. launch is the root element of any ROS 2 launch XML file. You can do this with this remap: Again, this example is from the perspective of the receiving node which subscribes to the topic. You signed in with another tab or window. The output of rosnode list is /rosout /turtlebot_teleop_keyboard arp ( Dec 4 '14 ) putting the ns tag in the group tag in the top level launch file putting the remap tag in the node tag in the client launch file putting the remap tag in the group tag in the client launch file changing the remap to be from="a/topic" to="topic" What am I missing here? Launching nav2 from another launch file and remapping the cmd_vel topic: Parametrizing two nodes within one launch file. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. In particular I'm curious about topics. Then, instead of using the ns attribute, add the push_ros_namespace action tag to specify the namespace: Nesting include tags under a group tag is only required when specifying a namespace. Is there another way that promotes reuse in a more flexible way? Instead of starting each process manually, they allow you to start multiple nodes with one command and add logic to your startup sequence. Help us understand the problem. Nodes that are launched before any remap lines are not affected. What if they don't? Usually used together with let, include and push_ros_namespace tags. I have used this one as a reference, and everything seems to work. It follows what you mentioned in your original answer :). Remember: this means that if you remap FROM topic "A" TO topic "B", then whenever a node thinks it is subscribing to topic "A", it is actually subscribing to topic "B", so anyone publishing to topic "B" will end up getting their message to this node! roslaunch remap ROS Topic remap publish topic remap subscribe from publish topic remap publish topic remap Substitutions syntax hasn't changed, i.e. For that reason, it can only be used nested in a, Available in ROS 1, included content was scoped. The <remap> tag allows you to pass in name remapping arguments to the ROS node that you are launching in a more structured manner than setting the args attribute of a <node> directly.