launch.0.1.1.xsd

<?xml version="1.0"?>
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
  xmlns:vc="http://www.w3.org/2007/XMLSchema-versioning"
  vc:minVersion="1.1">
  <xs:annotation>
    <xs:documentation xml:lang="en">
      ROS 2 launch XML schema v0.1.0
    </xs:documentation>
  </xs:annotation>

  <xs:element name="launch">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        The root element of a launch file.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:choice maxOccurs="unbounded">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            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.
          </xs:documentation>
        </xs:annotation>

        <xs:element name="arg">
          <xs:annotation>
            <xs:documentation xml:lang="en">
              Declares a launch file argument.
            </xs:documentation>
          </xs:annotation>

          <xs:complexType>
            <xs:attribute name="name" type="xs:string" use="required">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Name of the launch argument.
                </xs:documentation>
              </xs:annotation>
            </xs:attribute>
            <xs:attribute name="value" type="xs:string" use="optional">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Fixed value for the launch argument, disables overrides.
                </xs:documentation>
              </xs:annotation>
            </xs:attribute>
            <xs:attribute name="default" type="xs:string" use="optional">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Default value for the launch argument, used if non is provided.
                </xs:documentation>
              </xs:annotation>
            </xs:attribute>
            <xs:attribute name="description" type="xs:string" use="optional">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Brief description of the launch argument.
                </xs:documentation>
              </xs:annotation>
            </xs:attribute>
          </xs:complexType>
        </xs:element>
        <xs:element ref="let"/>
        <xs:element ref="node"/>
        <xs:element ref="executable"/>
        <xs:element ref="include"/>
        <xs:element ref="group"/>
        <xs:element ref="set_env"/>
        <xs:element ref="unset_env"/>
      </xs:choice>
      <xs:attribute name="version" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Launch XML schema version in use.
          </xs:documentation>
        </xs:annotation>
        <xs:simpleType>
          <xs:restriction base="xs:string">
            <xs:pattern value="[0-9]+\.[0-9]+\.[0-9]+"/>
          </xs:restriction>
        </xs:simpleType>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="let">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Defines a launch configuration variable.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:attribute name="name" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name of the launch configuration variable.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="value" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Value for the launch configuration variable.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="include">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Includes another launch file, either descriptive or programmatic.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:sequence minOccurs="0" maxOccurs="unbounded">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Arguments for the included launch file, if any.
          </xs:documentation>
        </xs:annotation>

        <xs:element name="arg">
          <xs:annotation>
            <xs:documentation xml:lang="en">
              An included launch file argument provision.
            </xs:documentation>
          </xs:annotation>

          <xs:complexType>
            <xs:attribute name="name" type="xs:string" use="required">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Name of the launch argument.
                </xs:documentation>
              </xs:annotation>
            </xs:attribute>
            <xs:attribute name="value" type="xs:string" use="required">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Value for the launch argument.
                </xs:documentation>
              </xs:annotation>
            </xs:attribute>
          </xs:complexType>
        </xs:element>
      </xs:sequence>
      <xs:attribute name="file" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Path to the launch file to be included.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="if" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition launch inclusion i.e. only do
            so if the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="unless" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition launch inclusion i.e. do
            so unless the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="group">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Groups and optionally scopes a set of actions.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:choice minOccurs="1" maxOccurs="unbounded">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            The actions that make up the group.
          </xs:documentation>
        </xs:annotation>
        <xs:element ref="executable"/>
        <xs:element ref="node"/>
        <xs:element ref="group"/>
        <xs:element ref="include"/>
        <xs:element ref="let"/>
        <xs:element ref="set_env"/>
        <xs:element ref="unset_env"/>
      </xs:choice>
      <xs:attribute name="scoped" type="xs:boolean" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Whether the group is a scoping one launch configuration-wise or not.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="if" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition group launch i.e. only do
            so if the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="unless" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition group launch i.e. do
            so unless the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="env">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Modifies an executable process environment.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:attribute name="name" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name of the environment variable to be set.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="value" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Value to be set for the environment variable.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="set_env">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Modifies an executable process environment.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:attribute name="name" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name of the environment variable to be set.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="value" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Value to be set for the environment variable.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="if" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition executable launch i.e. only do
            so if the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="unless" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition executable launch i.e. do so unless
            the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="unset_env">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Modifies an executable process environment.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:attribute name="name" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name of the environment variable to be set.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="if" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition executable launch i.e. only do
            so if the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="unless" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition executable launch i.e. do so unless
            the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="executable">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Executes an executable as a local OS process.
      </xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A collection of environment variable settings for the
            launched executable.
          </xs:documentation>
        </xs:annotation>

        <xs:element ref="env"/>
      </xs:choice>
      <xs:attribute name="cmd" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Path to the executable or a command-line if a
            shell is used to launch.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="cwd" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            The working directory for the launched process.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="name" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A name or label for the launched executable.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="args" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Additional 'command-line' arguments for the executable.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="shell" type="xs:boolean" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Whether to use a shell to launch or not.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="launch-prefix" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A prefix for the executable command-line if a shell is used to launch.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="output" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Output type for the launched executable.
          </xs:documentation>
        </xs:annotation>
        <xs:simpleType>
          <xs:restriction base="xs:string">
            <xs:enumeration value="log">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Executable output goes to a log file.
                </xs:documentation>
              </xs:annotation>
            </xs:enumeration>
            <xs:enumeration value="screen">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  Executable output goes to stdout.
                </xs:documentation>
              </xs:annotation>
            </xs:enumeration>
          </xs:restriction>
        </xs:simpleType>
      </xs:attribute>
      <xs:attribute name="if" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition executable launch i.e. only do
            so if the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="unless" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition executable launch i.e. do so unless
            the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="param">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        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.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A collection of nested ROS parameters to be set.
          </xs:documentation>
        </xs:annotation>

        <xs:element ref="param"/>
      </xs:choice>
      <xs:attribute name="name" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name of the ROS parameter to be set.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="value" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Value or list of values to set the the ROS parameter with.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="sep" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Value separator when dealing with list of values.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="from" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Path to the parameters file to be loaded.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:assert test="(@name and not(@from)) or (not(@name) and @from)"/>
    </xs:complexType>
  </xs:element>

  <xs:element name="remap">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Remaps ROS names for a node.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:attribute name="from" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name matching expression to look for replacement candidates.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="to" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name replacement expression to replace candidates found.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>

  <xs:element name="node">
    <xs:annotation>
      <xs:documentation xml:lang="en">
        Executes a ROS node executable in a local OS process.
      </xs:documentation>
    </xs:annotation>

    <xs:complexType>
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A collection of ROS parameters, ROS remappings and/or
            environment variable settings for the launched ROS node.
          </xs:documentation>
        </xs:annotation>
        <xs:element ref="env"/>
        <xs:element ref="param"/>
        <xs:element ref="remap"/>
      </xs:choice>
      <xs:attribute name="pkg" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name of the package where the node is to be found.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="exec" type="xs:string" use="required">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Name of the node executable.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="name" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A name for the launched ROS node.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="ros_args" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            ROS-specific 'command-line' arguments for the ROS node.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="args" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Additional 'command-line' arguments for the ROS node.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="namespace" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A ROS namespace to scope the launched ROS node.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="launch-prefix" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A prefix for the ROS node command-line used for launch.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="output" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            Output type for the launched ROS node.
          </xs:documentation>
        </xs:annotation>
        <xs:simpleType>
          <xs:restriction base="xs:string">
            <xs:enumeration value="log">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  ROS node output goes to a log file.
                </xs:documentation>
              </xs:annotation>
            </xs:enumeration>
            <xs:enumeration value="screen">
              <xs:annotation>
                <xs:documentation xml:lang="en">
                  ROS node output goes to stdout.
                </xs:documentation>
              </xs:annotation>
            </xs:enumeration>
          </xs:restriction>
        </xs:simpleType>
      </xs:attribute>
      <xs:attribute name="if" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition ROS node launch i.e. only do
            so if the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
      <xs:attribute name="unless" type="xs:string" use="optional">
        <xs:annotation>
          <xs:documentation xml:lang="en">
            A predicate to condition ROS node launch i.e. do so unless
            the predicate evaluates to a truthy value.
          </xs:documentation>
        </xs:annotation>
      </xs:attribute>
    </xs:complexType>
  </xs:element>
</xs:schema>