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【ROS2】python形式のlaunchでbagファイルを再生する方法

Posted at 2020-02-27

はじめに

ROS2のlaunch.pyでbagファイルを再生する方法について記述します．

テスト環境

Ubuntu 18.04
ROS Eloquent

bagの再生の方法

import launch

def generate_launch_description():
    return launch.LaunchDescription([
        launch.actions.ExecuteProcess(
            cmd=['ros2', 'bag', 'play', 'your_bag_dir'],
            output='screen'
        )
    ])

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