tf tutorial... running a broadcaster

Question

in the tf tutorial. in: writing a tf broadcaster (Python), while creating the launch file (in section, running the broadcaster), why it is written:

<node name="turtle1_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >

, because the node was created as:

rospy.init_node('turtle_tf_broadcaster')

not

rospy.init_node('turtle1_tf_broadcaster')

So how will ros identify the node??

Ans what does respawn="false" mean?

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Originally posted by anwesha17k on ROS Answers with karma: 1 on 2018-01-05

Post score: 0

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Original comments

Comment by jayess on 2018-01-05:
I reformatted your question to enable syntax highlighting (it's easier to read) and I included a link to the section of the tutorial that you're asking about (it's a good idea to link to anything you're asking about).

Answer 1

Even though the node's source declared the name as turtle_tf_broadcaster, roslaunch allows you to rename a node using the <node> tag's name attribute. This way you can run multiple instances of the same node. If you tried to run multiple instances of a node with the same name you'd get a warning stating

[ WARN] [1486130761.721137111]: Reason given for shutdown: [new node registered with same name]

The roslaunch section of the wiki explains what the respawn attribute does

respawn="true"(optional)

Restart the node automatically if it quits.

So, if you're node dies for some reason it will automatically be restarted if you include the respawn attribute.

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Originally posted by jayess with karma: 6155 on 2018-01-05

This answer was ACCEPTED on the original site

Post score: 0