# voxl_mpa_to_ros

Source: https://forum.modalai.com/topic/476/voxl_mpa_to_ros
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl
Posted: 2021-10-04 21:58:13 UTC by colerose
Replies: 2 · Views: 986

## colerose · 2021-10-04 21:58:13 UTC

I'm following the instructions given [here](https://gitlab.com/voxl-public/ros/voxl_mpa_to_ros/-/tree/master/) to use voxl_mpa_to_ros. Everything runs fine so long as I run the command:

```
roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch
```

However, when I run the command ```

```
voxl-mpa-to-ros
```

I get the following: 

```
yocto:~$ voxl-mpa-to-ros
bash: voxl-mpa-to-ros: command not found
```

This would not be a big deal except for the fact that I would like to choose which services to publish to ros by providing a custom .launch file. I tried to use roslaunch with a custom .launch file 
and I got the following error:

```
yocto:~$ roslaunch voxl_mpa_to_ros custom_voxl_mpa_to_ros.launch
[custom_voxl_mpa_to_ros.launch] is neither a launch file in package [voxl_mpa_to_ros] nor is [voxl_mpa_to_ros] a launch file name
The traceback for the exception was written to the log file
```

How would I go about providing a custom launch file to choose which services to publish?

## Reply by Guest · 2021-10-05 17:11:44 UTC

Hi Cole,

The voxl-mpa-to-ros command is actually an alias of that roslaunch command that you posted at the beginning that appears to have not made it into our standard bashrc (I'll add that in to a new version of voxl-utils). 

As for the custom launch file, I'd need a bit more information about the location/contents/etc in order to see why ros isn't happy.

## Reply by jaredjohansen · 2021-10-07 18:59:51 UTC

We got it to work by just navigating to the launch file and invoking the roslaunch command from there (and excluding the package name): `roslaunch voxl_mpa_to_ros.launch`.  Thanks, @Alex-Gardner!