October 9, 2023

In this tutorial I will show you how to write, install and run a ROS2 XML launch file.

Whenever you start to have multiple nodes (with parameters, arguments, …) in your application, creating a launch file becomes an almost mandatory step to be able to scale and go beyond 2-3 nodes without creating a huge mess.

And in ROS2, you have the choice: you can create a launch file in Python, XML, and even YAML. The default was first Python, but XML is coming back strongly (XML was the default in ROS1). I’ll compare XML and Python for launch files quickly in this tutorial.

In this tutorial I’ll show you how you can chain ROS2 topics and thus build a data pipeline through several

So, you’ve developed a nice ROS application, which can be launched with a single launch file: great! But… There is