Visual Modeling of ROS Launch Files

This work presents a model-integrated approach using WebGME for visual design of launch files within the Robotic Operating System (ROS). A ROS launch file defines nodes to run and the appropriate runtime configuration, allowing quick and easy startup of a complex ROS network. These launch files aid in repeatable management and configuration of multiple nodes in a robotic system. However, manually creating and modifying these XML-based launch files can be complex and error-prone. The contribution of this paper is describing a tool that allows users to raise the level of abstraction when interacting with these launch files. It supports direct construction of launch files by dragging and dropping elements, automatically generating the output XML representation. It also supports importing existing launch files, visualizing node connections, and validating configurations to prevent errors such as duplicate node names and incorrect argument dependencies. Additional plugins facilitate library updates, communication mapping, and automated launch file export. By integrating model validation, connection visualization, and automated code generation, this approach enhances usability and reduces errors in ROS system configuration.