/launch

Manage ROS launch files. Use $ARGUMENTS to specify a package name or launch file path.

If no arguments provided - list all launch files:

echo "=== Launch files in workspace ==="
find ${CATKIN_WS:-catkin_ws}/src -name "*.launch" -type f 2>/dev/null | while read f; do
  pkg=$(basename $(dirname $(dirname $f)))
  echo "$pkg: $f"
done

echo "=== Installed ROS packages with launch files ==="
for pkg in $(rospack list-names 2>/dev/null | head -20); do
  pkg_path=$(rospack find $pkg 2>/dev/null)
  if [ -d "$pkg_path/launch" ]; then
    echo "$pkg: $pkg_path/launch/"
  fi
done | head -15

If package name provided:

Find package and its launch files:

PKG_PATH=$(rospack find $ARGUMENTS 2>/dev/null)
if [ -n "$PKG_PATH" ]; then
  echo "Package: $ARGUMENTS"
  echo "Path: $PKG_PATH"
  echo ""
  echo "Launch files:"
  find $PKG_PATH -name "*.launch" -type f 2>/dev/null
else
  echo "Package '$ARGUMENTS' not found"
fi

Read and parse the launch file:

Use the Read tool to read the launch file content, then parse:

1. Arguments (<arg> tags) - parameters that can be set at launch
2. Nodes (<node> tags) - what nodes will be started
3. Parameters (<param> tags) - what parameters are set
4. Includes (<include> tags) - other launch files included
5. Remaps (<remap> tags) - topic remappings

If launch file path provided:

Read the file directly and parse its contents.

Output Format

Launch File Analysis

Package: [package_name] File: [launch_file_path]

Arguments (configurable at launch)

Argument	Default	Description
param1	default_value	Description of parameter
param2	100	Another parameter

Nodes Started

Node Name	Package	Type	Namespace
your_node	your_package	node_type	/

Parameters Set

Parameter	Value
~param1	$(arg param1)
~param2	$(arg param2)

Included Launch Files

• [other.launch]

How to Launch

# Basic launch
roslaunch [package] [file.launch]

# With arguments
roslaunch [package] [file.launch] arg1:=value1 arg2:=value2

# Example for this launch file:
roslaunch your_package robot.launch param1:=value1 param2:=100

Tips

• Use roslaunch --ros-args [package] [file] to see all arguments
• Add --screen to see node output in terminal
• Use rosnode list after launch to verify nodes started