Example 3.3 type in .launch file

Course Support ROS Basics In 5 Days (C++)
1

Hi

I’m a bit confused about the type in example 3.3, the type should be the name of the .cpp file, while I found it is main.cpp in the package iri_wam_aff_demo. So I’m curious about where do I get the type name “iri_wam_aff_demo_node”?

Cheers

2

Hi @youngyangcs,

The “type” is the name of the compiled C++ source, which you specify when setting up the C++ source in CMakeLists.txt. It can be the name of the C++ source file (without the .cpp suffix) or any other name you specify.

You can find that in the Build section:

###########
## Build ##
###########
# ...

## Declare a cpp executable
add_executable(iri_wam_aff_demo_node main.cpp)

#...
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