{"id":3112,"date":"2022-07-26T16:21:29","date_gmt":"2022-07-26T16:21:29","guid":{"rendered":"https:\/\/robotica-facil-con-ros2.es\/?p=3112"},"modified":"2023-02-11T22:05:27","modified_gmt":"2023-02-11T22:05:27","slug":"ros2-resumen-de-codigo","status":"publish","type":"post","link":"https:\/\/robotica-facil-con-ros2.es\/?p=3112","title":{"rendered":"ROS2. Resumen de c\u00f3digo"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"3112\" class=\"elementor elementor-3112\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-14d5964 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"14d5964\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-eca1302\" data-id=\"eca1302\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7250918 elementor-widget elementor-widget-text-editor\" data-id=\"7250918\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>En este art\u00edculo voy a ir recopilando c\u00f3digo de uso frecuente para tenerlo a mano.<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c899a2c elementor-widget elementor-widget-text-editor\" data-id=\"c899a2c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h3>LINEA DE COMANDO<\/h3>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1506fe3 elementor-widget elementor-widget-text-editor\" data-id=\"1506fe3\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Espacios de trabajo<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2be0966 elementor-widget elementor-widget-text-editor\" data-id=\"2be0966\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Crear un espacio de trabajo<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-63d65ef elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"63d65ef\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-63d65ef\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-tomorrow\"\n            data-dark-theme=\"mdp-theme-tomorrow\"\n        >\n            \n                <pre class=\"language-shell-session copy-to-clipboard\"data-previewers=\"\"><code>source \/opt\/ros\/galactic\/setup.bash\nmkdir -p ~\/dev_ws\/src\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_63d65ef = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_63d65ef();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_63d65ef );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-caebaa8 elementor-widget elementor-widget-text-editor\" data-id=\"caebaa8\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Resolver dependencias<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-119173d elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"119173d\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-119173d\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-tomorrow\"\n            data-dark-theme=\"mdp-theme-tomorrow\"\n        >\n            \n                <pre class=\"language-shell-session copy-to-clipboard\"data-previewers=\"\"><code>rosdep install -i --from-path src --rosdistro galactic -y\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_119173d = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_119173d();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_119173d );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2676179 elementor-widget elementor-widget-text-editor\" data-id=\"2676179\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Compilar todo el espacio de trabajo<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-362fb71 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"362fb71\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-362fb71\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-tomorrow\"\n            data-dark-theme=\"mdp-theme-tomorrow\"\n        >\n            \n                <pre class=\"language-shell-session copy-to-clipboard\"data-previewers=\"\"><code>colcon build\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_362fb71 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_362fb71();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_362fb71 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7bf754b elementor-widget elementor-widget-text-editor\" data-id=\"7bf754b\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Paquetes<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-428da8c elementor-widget elementor-widget-text-editor\" data-id=\"428da8c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Crear un paquete<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5ba2ad2 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"5ba2ad2\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-5ba2ad2\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-tomorrow\"\n            data-dark-theme=\"mdp-theme-tomorrow\"\n        >\n            \n                <pre class=\"language-shell-session copy-to-clipboard\"data-previewers=\"\"><code>ros2 pkg create &lt;package_name&gt; --build-type ament_python --dependencies rclpy<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_5ba2ad2 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_5ba2ad2();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_5ba2ad2 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-52eafb4 elementor-widget elementor-widget-text-editor\" data-id=\"52eafb4\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Crear un paquete con un ejecutable (nodo) vac\u00edo<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5ef4d7a elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"5ef4d7a\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-5ef4d7a\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-tomorrow\"\n            data-dark-theme=\"mdp-theme-tomorrow\"\n        >\n            \n                <pre class=\"language-shell-session copy-to-clipboard\"data-previewers=\"\"><code>ros2 pkg create &lt;package_name&gt; --node-name &lt;node_name&gt; --build-type ament_python --dependencies rclpy <\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_5ef4d7a = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_5ef4d7a();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_5ef4d7a );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4978686 elementor-widget elementor-widget-text-editor\" data-id=\"4978686\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Compilar un paquete<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-fb98d70 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"fb98d70\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-fb98d70\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-tomorrow\"\n            data-dark-theme=\"mdp-theme-tomorrow\"\n        >\n            \n                <pre class=\"language-shell-session copy-to-clipboard\"data-previewers=\"\"><code>colcon build --packages-select &lt;package_name&gt;<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_fb98d70 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_fb98d70();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_fb98d70 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3690834 elementor-widget elementor-widget-text-editor\" data-id=\"3690834\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h3 style=\"font-size: 1.66667rem; font-style: normal;\">ARCHIVOS LAUNCH<\/h3>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-095fe7c elementor-widget elementor-widget-text-editor\" data-id=\"095fe7c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4>PYTHON<\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b375dde elementor-widget elementor-widget-text-editor\" data-id=\"b375dde\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Estructura b\u00e1sica<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0f6ce4f elementor-widget elementor-widget-text-editor\" data-id=\"0f6ce4f\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6><span style=\"color: #3a3a3a; font-family: Anton, sans-serif;\">Indicando directamente las acciones en el constructor del objeto LaunchDescription<\/span><\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-23c8bc7 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"23c8bc7\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-23c8bc7\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch import LaunchDescription\n\ndef generate_launch_description():\n    return LaunchDescription([\n        # Incluir aqu&iacute; las acciones:\n        # action_1,\n        # action_n,\n    ])<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_23c8bc7 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_23c8bc7();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_23c8bc7 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5a38b2f elementor-widget elementor-widget-text-editor\" data-id=\"5a38b2f\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Acciones<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-05479f6 elementor-widget elementor-widget-text-editor\" data-id=\"05479f6\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h5>GENERICAS<\/h5>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7099a04 elementor-widget elementor-widget-text-editor\" data-id=\"7099a04\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>DeclareLaunchArgument<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d3679e9 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"d3679e9\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-d3679e9\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import DeclareLaunchArgument\n\nDeclareLaunchArgument(\n    &#039;argument_name&#039;,\n    default_value=&#039;A&#039;,\n    description=&#039;Description text for the argument&#039;,\n    choices=[&#039;A&#039;, &#039;B&#039;]\n)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_d3679e9 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_d3679e9();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_d3679e9 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-356face elementor-widget elementor-widget-text-editor\" data-id=\"356face\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>IncludeLaunchDescription<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-b41fa65 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"b41fa65\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-b41fa65\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import IncludeLaunchDescription\nfrom launch_ros.substitutions import FindPackageShare\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\n\n\nIncludeLaunchDescription(\n    PythonLaunchDescriptionSource(\n        [\n            FindPackageShare(&#039;package_name&#039;), \n            &#039;\/launch&#039;, &#039;\/my_file.launch.py&#039;\n        ],\n        launch_arguments = {&#039;arg1_name&#039;: arg1_val, &#039;arg2_name&#039;: arg2_val}.items()\n    )\n)\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_b41fa65 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_b41fa65();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_b41fa65 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0cf7909 elementor-widget elementor-widget-text-editor\" data-id=\"0cf7909\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>SetLaunchConfiguration<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-808876f elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"808876f\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-808876f\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import SetLaunchConfiguration\n \nSetLaunchConfiguration(&#039;arg_name&#039;, &#039;arg_value&#039;)\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_808876f = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_808876f();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_808876f );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-05d8e7c elementor-widget elementor-widget-text-editor\" data-id=\"05d8e7c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>SetEnvironmentVariable<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7373cd0 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"7373cd0\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-7373cd0\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import SetEnvironmentVariable\n\nSetEnvironmentVariable(&#039;VAR_NAME&#039;, &#039;var_value&#039;)\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_7373cd0 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_7373cd0();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_7373cd0 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5a37518 elementor-widget elementor-widget-text-editor\" data-id=\"5a37518\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>UnsetEnvironmentVariable<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-94efe6c elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"94efe6c\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-94efe6c\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import UnsetEnvironmentVariable\n\nUnsetEnvironmentVariable(&#039;VAR_NAME&#039;)\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_94efe6c = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_94efe6c();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_94efe6c );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-33d2089 elementor-widget elementor-widget-text-editor\" data-id=\"33d2089\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>LogInfo<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3e53bfc elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"3e53bfc\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-3e53bfc\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import LogInfo\n\nLogInfo(msg=&#039;My text&#039;)\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_3e53bfc = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_3e53bfc();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_3e53bfc );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0b5a270 elementor-widget elementor-widget-text-editor\" data-id=\"0b5a270\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>GroupAction<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c2553bc elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"c2553bc\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-c2553bc\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import GroupAction\n\nGroupAction(\n    actions=[\n        # Incluir aqu&iacute; las acciones:\n        # action_1,\n        # action_n,\n    ]\n)\n<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_c2553bc = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_c2553bc();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_c2553bc );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f9924f0 elementor-widget elementor-widget-text-editor\" data-id=\"f9924f0\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>ExecuteProcess<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2ff9e87 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"2ff9e87\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-2ff9e87\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import ExecuteProcess\n\nExecuteProcess(\n    cmd=[&#039;my_cmd&#039;],\n    name=&#039;my_process&#039;,  \n    output=&#039;both&#039;,       # Puede ser: screen, log, both.\n    additional_env={&#039;env_var&#039;: &#039;env_var_value&#039;},\n)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_2ff9e87 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_2ff9e87();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_2ff9e87 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e952289 elementor-widget elementor-widget-text-editor\" data-id=\"e952289\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>TimerAction<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-bfeb8c8 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"bfeb8c8\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-bfeb8c8\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import TimerAction\n\nTimerAction(period=5.0, actions=[action_1, action_n])<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_bfeb8c8 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_bfeb8c8();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_bfeb8c8 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-714f2e2 elementor-widget elementor-widget-text-editor\" data-id=\"714f2e2\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>RegisterEventHandler<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f9d0dda elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"f9d0dda\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-f9d0dda\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.actions import RegisterEventHandler\nfrom launch.event_handlers import &lt;event_handler&gt;\n\nRegisterEventHandler(\n    event_handler=&lt;event_handler&gt;( &lt;args&gt; )\n)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_f9d0dda = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_f9d0dda();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_f9d0dda );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-153097a elementor-widget elementor-widget-text-editor\" data-id=\"153097a\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h5>ESPECIFICAS DE ROS<\/h5>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-929d549 elementor-widget elementor-widget-text-editor\" data-id=\"929d549\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Node<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-fed0fb8 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"fed0fb8\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-fed0fb8\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch_ros.actions import Node\n\nNode(\n    package=&#039;package_name&#039;,\n    executable=&#039;executable_name&#039;,\n    name=&#039;node_name&#039;,\n    exec_name=&#039;process_name&#039;,\n    output=&#039;screen&#039;, \n    namespace=&#039;my_namespace&#039;,\n    remappings=[(&quot;src_topic1&quot;, &quot;dest_topic1&quot;), (&quot;src_topic2&quot;, &quot;dest_topic2&quot;)],\n    arguments=[&#039;-arg1_name&#039;, &#039;arg1_value&#039;, &#039;-arg2_name&#039;, &#039;arg2_value&#039;],\n    parameter=[{&#039;param1&#039;: &#039;param1_value&#039;, &#039;param2&#039;: &#039;param2_value&#039;}],\n    ros_arguments=[&#039;__ros_arg_name&#039;, &#039;value&#039;],\n)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_fed0fb8 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_fed0fb8();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_fed0fb8 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c5fb4eb elementor-widget elementor-widget-text-editor\" data-id=\"c5fb4eb\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>RosTimer<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-187cae8 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"187cae8\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-187cae8\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch_ros.actions import RosTimer\n\nRosTimer(period=5.0, actions=[action1, action2])<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_187cae8 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_187cae8();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_187cae8 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7fd9f64 elementor-widget elementor-widget-text-editor\" data-id=\"7fd9f64\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>SetParameter<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5dc23aa elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"5dc23aa\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-5dc23aa\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch_ros.actions import SetParameter\n\nSetParameter(name=&#039;param_name&#039;, value=&#039;param_value&#039;)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_5dc23aa = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_5dc23aa();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_5dc23aa );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-595013a elementor-widget elementor-widget-text-editor\" data-id=\"595013a\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>SetParameterFromFile<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-36f9d10 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"36f9d10\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-36f9d10\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch_ros.actions import SetParameterFromFile\n\nSetParametersFromFile(&#039;path\/to\/file.yaml&#039;)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_36f9d10 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_36f9d10();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_36f9d10 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3da97e3 elementor-widget elementor-widget-text-editor\" data-id=\"3da97e3\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>SetRemap<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-cf6c24c elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"cf6c24c\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-cf6c24c\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch_ros.actions import SetRemap\n\nSetRemap(src=&#039;src_topic&#039;, dst=&#039;dst_topic&#039;)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_cf6c24c = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_cf6c24c();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_cf6c24c );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c27cca1 elementor-widget elementor-widget-text-editor\" data-id=\"c27cca1\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>SetUseSimTime<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-27e0df7 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"27e0df7\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-27e0df7\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch_ros.actions import SetUseSimTime\n\nSetUseSimTime(True)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_27e0df7 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_27e0df7();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_27e0df7 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c52e449 elementor-widget elementor-widget-text-editor\" data-id=\"c52e449\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>PushRosNamespace<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-198413d elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"198413d\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-198413d\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch_ros.actions import PushRosNamespace\n\nPushRosNamespace(&#039;my_namespace&#039;)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_198413d = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_198413d();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_198413d );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2a63647 elementor-widget elementor-widget-text-editor\" data-id=\"2a63647\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Sustituciones<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-02efc38 elementor-widget elementor-widget-text-editor\" data-id=\"02efc38\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Condiciones<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-82a6e30 elementor-widget elementor-widget-text-editor\" data-id=\"82a6e30\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>IfCondition<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6530568 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"6530568\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-6530568\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code># La acci&oacute;n se ejecutara si el argumento my_arg = &#039;true&#039;.\ncondition=IfCondition(LaunchConfiguration(&#039;my_arg&#039;))\n\n# La acci&oacute;n se ejecutara si la variable de entorno USER = &#039;Alex&#039;.\ncondition=IfCondition(PythonExpression([&quot;&#039;&quot;, EnvironmentVariable(&#039;USER&#039;), &quot;&#039; == &#039;Alex&#039;&quot;]))<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_6530568 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_6530568();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_6530568 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f8c73e6 elementor-widget elementor-widget-text-editor\" data-id=\"f8c73e6\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>UnlessCondition<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3478fd3 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"3478fd3\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-3478fd3\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.conditions import IfCondition\n\n# La acci&oacute;n se ejecutara si el argumento my_arg = &#039;false&#039;.\ncondition=UnlessCondition(LaunchConfiguration(&#039;my_arg&#039;))\n\n# La acci&oacute;n se ejecutara si la variable de entorno USER != &#039;Alex&#039;.\ncondition=UnlessCondition(PythonExpression([&quot;&#039;&quot;, EnvironmentVariable(&#039;USER&#039;), &quot;&#039; == &#039;Alex&#039;&quot;]))<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_3478fd3 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_3478fd3();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_3478fd3 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8f5dcae elementor-widget elementor-widget-text-editor\" data-id=\"8f5dcae\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>LaunchConfigurationEquals<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0b72968 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"0b72968\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-0b72968\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from launch.conditions import UnlessCondition\n\n# La acci&oacute;n se ejecutara si el argumento user = &#039;Alex&#039;.\ncondition=LaunchConfigurationEquals(&#039;user&#039;, &#039;Alex&#039;)\n\n# La acci&oacute;n se ejecutara si el valor del argumentos user y my_name coinciden.\ncondition=LaunchConfigurationEquals(&#039;user&#039;, LaunchConfiguration(&#039;my_name&#039;))<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_0b72968 = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( window.matchMedia && window.matchMedia( '(prefers-color-scheme: dark)' ).matches ) {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + darkTheme;\n\n                        } else {\n\n                            coderBox.className = 'mdp-coder-elementor-box ' + lightTheme;\n\n                        }\n\n                    }\n\n                }\n                setTheme();\n\n\n                \/** Watch for changes color-scheme. *\/\n                window.matchMedia(\"(prefers-color-scheme: dark)\").addListener( function() {\n                    setTheme();\n                } );\n\n                \n                if ( typeof Prism !== 'undefined' ) {\n\n                    Prism.plugins.autoloader.languages_path = 'https:\/\/robotica-facil-con-ros2.es\/wp-content\/plugins\/coder-elementor\/js\/prism\/components\/';\n                    Prism.highlightAll();\n                    Prism.fileHighlight();\n\n                }\n\n                \n            };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_0b72968();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_0b72968 );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1e850f5 elementor-widget elementor-widget-text-editor\" data-id=\"1e850f5\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Eventos<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-824d091 elementor-widget elementor-widget-text-editor\" data-id=\"824d091\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4>XML<\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2a5c933 elementor-widget elementor-widget-text-editor\" data-id=\"2a5c933\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4>YAML<\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-54560f0 elementor-widget elementor-widget-text-editor\" data-id=\"54560f0\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h3>TF2<\/h3>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ee5c210 elementor-widget elementor-widget-text-editor\" data-id=\"ee5c210\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Transformaciones est\u00e1ticas<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e015810 elementor-widget elementor-widget-text-editor\" data-id=\"e015810\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Publicar una transformaci\u00f3n est\u00e1tica<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-35548bd elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"35548bd\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-35548bd\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from geometry_msgs.msg import TransformStamped\nfrom tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster\n\n\nself.static_tf_broadcaster = StaticTransformBroadcaster(self)\n\ntf = TransformStamped()\ntf.header.stamp = self.get_clock().now().to_msg()\ntf.header.frame_id = &#039;parent_frame&#039;\ntf.child_frame_id = &#039;child_frame&#039;\n\ntf.transform.translation.x = &lt;translation_x_value&gt;\ntf.transform.translation.y = &lt;translation_y_value&gt;\ntf.transform.translation.z = &lt;translation_z_value&gt;\n\ntf.transform.rotation.x = &lt;quaternion_x_value&gt;\ntf.transform.rotation.y = &lt;quaternion_y_value&gt;\ntf.transform.rotation.z = &lt;quaternion_z_value&gt;\ntf.transform.rotation.w = &lt;quaternion_w_value&gt;\n\nself.static_tf_broadcaster.sendTransform(tf)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_35548bd = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n         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class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Convertir de \u00e1ngulos de Euler a cuaternion<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-80746b0 elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"80746b0\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-80746b0\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from tf_transformations import quaternion_from_euler\n\nquat = quaternion_from_euler(roll, pitch, yaw)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use 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}\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c257106 elementor-widget elementor-widget-text-editor\" data-id=\"c257106\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h6>Convertir de cuaternion a \u00e1ngulos de Euler<\/h6>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-cf623ce elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"cf623ce\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-cf623ce\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>from tf_transformations import euler_from_quaternion\n\neuler = euler_from_quaternion(x, y, z, w)<\/code><\/pre>\n                    <\/div>\n                <script>\n            \"use strict\";\n\n            \/** Handler when the DOM is fully loaded. *\/\n            let callback_cf623ce = function() {\n\n                \/** Set theme for coder widget. *\/\n                function setTheme() {\n\n                    \/** Foreach Code Widget. *\/\n                    let coderBoxes = document.querySelectorAll( '.mdp-coder-elementor-box' );\n\n                    for ( let coderBox of coderBoxes ) {\n\n                        let lightTheme = coderBox.dataset.theme;\n                        let darkTheme = coderBox.dataset.darkTheme;\n\n                        coderBox.className = '';\n                        if ( 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     };\n\n            if (\n                document.readyState === \"complete\" ||\n                ( document.readyState !== \"loading\" && !document.documentElement.doScroll )\n            ) {\n                callback_cf623ce();\n            } else {\n                document.addEventListener( \"DOMContentLoaded\", callback_cf623ce );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-0ee2dac elementor-widget elementor-widget-text-editor\" data-id=\"0ee2dac\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<h4><span style=\"color: #0170b9;\">Robot State Publisher<\/span><\/h4>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-12db21e elementor-widget elementor-widget-mdp-coder-elementor\" data-id=\"12db21e\" data-element_type=\"widget\" data-widget_type=\"mdp-coder-elementor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t        <!-- Start Coder for Elementor WordPress Plugin -->\n        <div\n            id=\"mdp-coder-12db21e\"\n            class=\"mdp-coder-elementor-box\"\n            data-theme=\"mdp-theme-xonokai\"\n            data-dark-theme=\"mdp-theme-xonokai\"\n        >\n            \n                <pre class=\"language-python copy-to-clipboard\"data-previewers=\"\"><code>robot_state_publisher_node = Node(\n    package=&#039;robot_state_publisher&#039;,\n    executable=&#039;robot_state_publisher&#039;,\n    name=&#039;my_robot_state_publisher&#039;,\n    emulate_tty=True,\n    parameters=[{&#039;use_sim_time&#039;: True, &#039;robot_description&#039;: xml}],\n    remappings=[(&quot;\/robot_description&quot;, &quot;\/my_robot_description&quot;)\n    ],\n    output=&quot;screen&quot;\n)<\/code><\/pre>\n                    <\/div>\n   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\"DOMContentLoaded\", callback_12db21e );\n            }\n\n        <\/script>\n                <!-- End Coder for Elementor WordPress Plugin -->\n\n        \t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>En este art\u00edculo encontraras c\u00f3digo de uso habitual en la programaci\u00f3n con 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