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Ignition Launch : Run and manage programs and plugins

Maintainer: nate AT openrobotics DOT org

GitHub open issues GitHub open pull requests Discourse topics Hex.pm

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Ignition Launch, a component of Ignition Robotics, provides a command line interface to run and manager application and plugins.

Table of Contents

Features

Install

Usage

Documentation

Testing

Folder Structure

Contributing

Code of Conduct

Versioning

License

Features

Ignition Launch is used to run and manage plugins and programs. A configuration script can be used to specify which programs and plugins to execute. Alternatively, individual programs and plugins can be run from the command line. Example configuration scripts are located in the examples directory.

  1. Automatic ERB parsing of configuration files.
  2. Pass arguments to launch files from the command line.
  3. Plugins to launch Gazebo, joystick interface, and a websocket server for simulation.

Install

We recommend following the Binary Install instructions to get up and running as quickly and painlessly as possible.

The Source Install instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.

Binary Install

On Ubuntu systems, apt can be used to install ignition-launch:

sudo apt install libignition-launch<#>

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Source Install

Source installation can be performed in UNIX systems by first installing the necessary prerequisites followed by building from source.

Prerequisites

Ubuntu Bionic

  1. Install third-party libraries:

    sudo apt-get -y install cmake build-essential curl cppcheck g++-8 doxygen ruby-ronn libtinyxml2-dev software-properties-common
    
  2. Install required Ignition libraries

    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
    
    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list'
    
    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
    
    sudo apt-get update
    
    sudo apt-get -y install libignition-cmake2-dev libignition-gazebo2-dev
    

Building from source

  1. Clone the repository

    git clone https://github.com/ignitionrobotics/ign-launch
    
  2. Configure and build

    cd ign-launch; mkdir build; cd build; cmake ..; make
    
  3. Optionally, install Ignition Launch

    sudo make install
    

Usage

Sample launch configuration files are in the examples directory.

Example

  1. Run a configuration that launches Gazebo.

    ign launch gazebo.ign
    

Known issue of command line tools

In the event that the installation is a mix of Debian and from source, command line tools from ign-tools may not work correctly.

A workaround for a single package is to define the environment variable IGN_CONFIG_PATH to point to the location of the Ignition library installation, where the YAML file for the package is found, such as

export IGN_CONFIG_PATH=/usr/local/share/ignition

However, that environment variable only takes a single path, which means if the installations from source are in different locations, only one can be specified.

Another workaround for working with multiple Ignition libraries on the command line is using symbolic links to each library's YAML file.

mkdir ~/.ignition/tools/configs -p
cd ~/.ignition/tools/configs/
ln -s /usr/local/share/ignition/fuel4.yaml .
ln -s /usr/local/share/ignition/transport7.yaml .
ln -s /usr/local/share/ignition/transportlog7.yaml .
...
export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs

This issue is tracked here.

Documentation

API and tutorials can be found at https://ignitionrobotics.org/libs/launch.

You can also generate the documentation from a clone of this repository by following these steps.

  1. You will need Doxygen. On Ubuntu Doxygen can be installed using

    sudo apt-get install doxygen
    
  2. Clone the repository

    git clone https://github.com/ignitionrobotics/ign-launch
    
  3. Configure and build the documentation.

    cd ign-launch; mkdir build; cd build; cmake ../; make doc
    
  4. View the documentation by running the following command from the build directory.

    firefox doxygen/html/index.html
    

Testing

Follow these steps to run tests and static code analysis in your clone of this repository.

  1. Follow the source install instruction.

  2. Run tests.

    make test
    
  3. Static code checker.

    make codecheck
    

Folder Structure

Refer to the following table for information about important directories and files in this repository.

ign-launch
├── examples                 Example launch configurations.
├── include/ignition/launch  Header files.
├── src                      Source files and unit tests.
├── test
│    ├── integration         Integration tests.
│    ├── performance         Performance tests.
│    └── regression          Regression tests.
├── plugins                  Launch plugins, one per subdirectory.
├── Changelog.md             Changelog.
└── CMakeLists.txt           CMake build script.

Contributing

Please see the contribution guide.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

This library uses Semantic Versioning. Additionally, this library is part of the Ignition Robotics project which periodically releases a versioned set of compatible and complimentary libraries. See the Ignition Robotics website for version and release information.

License

This library is licensed under Apache 2.0. See also the LICENSE file.