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Add launch XML substitution for a packages share directory #254

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jacobperron merged 2 commits into from
Aug 29, 2019
Merged

Add launch XML substitution for a packages share directory #254

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34cc6da
Add launch XML substitution for a packages share directory
jacobperron Aug 28, 2019
0fc46f1
Mention package name
jacobperron Aug 29, 2019
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10 changes: 8 additions & 2 deletions articles/151_roslaunch_xml.md
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ The included launch file description is not necessarily written in this format n

```xml
<include file="/opt/my_launch_file.py"/>
<include file="$(find-pkg my_pkg)/launch/some_launch_file.xml"/>
<include file="$(find-pkg-share my_pkg)/launch/some_launch_file.xml"/>
<include file="/opt/my_other_launch_file.xml">
<arg name="some_argument" value="dummy_value"/>
</include>
Expand Down Expand Up @@ -239,11 +239,17 @@ All substitutions are enclosed by `$(...)`.

### Built-in Substitutions

`$(find-pkg <pkg-name>)`
`$(find-pkg-prefix <pkg-name>)`
: Substituted by the install prefix path of the given package.
Forward and backwards slashes will be resolved to the local filesystem convention.
Substitution will fail if the package cannot be found.

`$(find-pkg-share <pkg-name>)`
: Substituted by the share directory path of the given package.
The share directory includes the package's name, e.g. `<prefix>/share/<pkg-name>`.
Forward and backwards slashes will be resolved to the local filesystem convention.
Substitution will fail if the package cannot be found.

`$(find-exec <exec-name>)`
: Substituted by the path to the executable in the local filesystem.
Executables are looked up in the PATH environment variable.
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