ROS 2 launch XML schema v0.1.0 The root element of a launch file. A collection of actions to be launched in order of appearance, plus launch arguments for callers to provide, either through a tool or by inclusion. Declares a launch file argument. Name of the launch argument. Fixed value for the launch argument, disables overrides. Default value for the launch argument, used if non is provided. Brief description of the launch argument. Launch XML schema version in use. Defines a launch configuration variable. Name of the launch configuration variable. Value for the launch configuration variable. Includes another launch file, either descriptive or programmatic. Arguments for the included launch file, if any. An included launch file argument provision. Name of the launch argument. Value for the launch argument. Path to the launch file to be included. A predicate to condition launch inclusion i.e. only do so if the predicate evaluates to a truthy value. A predicate to condition launch inclusion i.e. do so unless the predicate evaluates to a truthy value. Groups and optionally scopes a set of actions. The actions that make up the group. Whether the group is a scoping one launch configuration-wise or not. A predicate to condition group launch i.e. only do so if the predicate evaluates to a truthy value. A predicate to condition group launch i.e. do so unless the predicate evaluates to a truthy value. Modifies an executable process environment. Name of the environment variable to be set. Value to be set for the environment variable. Modifies an executable process environment. Name of the environment variable to be set. Value to be set for the environment variable. A predicate to condition executable launch i.e. only do so if the predicate evaluates to a truthy value. A predicate to condition executable launch i.e. do so unless the predicate evaluates to a truthy value. Modifies an executable process environment. Name of the environment variable to be set. A predicate to condition executable launch i.e. only do so if the predicate evaluates to a truthy value. A predicate to condition executable launch i.e. do so unless the predicate evaluates to a truthy value. Executes an executable as a local OS process. A collection of environment variable settings for the launched executable. Path to the executable or a command-line if a shell is used to launch. The working directory for the launched process. A name or label for the launched executable. Additional 'command-line' arguments for the executable. Whether to use a shell to launch or not. A prefix for the executable command-line if a shell is used to launch. Output type for the launched executable. Executable output goes to a log file. Executable output goes to stdout. A predicate to condition executable launch i.e. only do so if the predicate evaluates to a truthy value. A predicate to condition executable launch i.e. do so unless the predicate evaluates to a truthy value. Sets a ROS parameter for the enclosing node to a scalar value, a sequence of scalar values delimited by a known separator or a sequence of nested named parameters, either defined in place or in a file to be loaded. A collection of nested ROS parameters to be set. Name of the ROS parameter to be set. Value or list of values to set the the ROS parameter with. Value separator when dealing with list of values. Path to the parameters file to be loaded. Remaps ROS names for a node. Name matching expression to look for replacement candidates. Name replacement expression to replace candidates found. Executes a ROS node executable in a local OS process. A collection of ROS parameters, ROS remappings and/or environment variable settings for the launched ROS node. Name of the package where the node is to be found. Name of the node executable. A name for the launched ROS node. ROS-specific 'command-line' arguments for the ROS node. Additional 'command-line' arguments for the ROS node. A ROS namespace to scope the launched ROS node. A prefix for the ROS node command-line used for launch. Output type for the launched ROS node. ROS node output goes to a log file. ROS node output goes to stdout. A predicate to condition ROS node launch i.e. only do so if the predicate evaluates to a truthy value. A predicate to condition ROS node launch i.e. do so unless the predicate evaluates to a truthy value.