Roslaunch XML schema, DTD and XSD

example-dtd.launch

<?xml version="1.0" ?>
<!DOCTYPE launch SYSTEM "https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.dtd">
<launch>
    <!-- Enjoy code completion and validation in some IDEs/editors, such as IntelliJ -->
</launch>

example-xsd.launch

<?xml version="1.0" ?>
<launch xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
        xsi:noNamespaceSchemaLocation="https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.xsd">
    <!-- Enjoy code completion and validation in some IDEs/editors, e.g. Atom or IntelliJ -->
</launch>

roslaunch.dtd

<?xml version="1.0" encoding="UTF-8"?>
<!-- Not updated, not complete. Use XSD. -->
<!ELEMENT launch (node|machine|include|remap|env|param|rosparam|group|test|arg)* >

<!ENTITY % attrs
        "if CDATA #IMPLIED
        unless CDATA #IMPLIED
        ">

<!ELEMENT arg EMPTY>
<!ATTLIST arg
        %attrs;
        name CDATA #REQUIRED
        value CDATA #IMPLIED
        default CDATA #IMPLIED
        doc CDATA #IMPLIED
        >

<!ELEMENT env EMPTY>
<!ATTLIST env
        %attrs;
        name CDATA #REQUIRED
        value CDATA #REQUIRED
        >

<!ELEMENT group (node|machine|include|remap|env|param|rosparam|test|arg)*>
<!ATTLIST group
        %attrs;
        ns CDATA #IMPLIED
        clear_params (true|false) #IMPLIED
        >

<!ELEMENT include (env|arg)*>
<!ATTLIST include
        %attrs;
        file CDATA #REQUIRED
        ns CDATA #IMPLIED
        env-loader CDATA #IMPLIED
        clear_params (true|false) #IMPLIED
        pass_all_args (true|false) #IMPLIED
        >

<!ELEMENT node (env|remap|rosparam|param)*>
<!ATTLIST node
        %attrs;
        pkg CDATA #REQUIRED
        type CDATA #REQUIRED
        name CDATA #IMPLIED
        args CDATA #IMPLIED
        machine CDATA #IMPLIED
        respawn (true|false) #IMPLIED
        respawn_delay CDATA #IMPLIED
        required (true) #IMPLIED
        clear_params (true|false) #IMPLIED
        output (log|screen) #IMPLIED
        cwd (ROS_HOME|node) #IMPLIED
        launch-prefix CDATA #IMPLIED
        ns CDATA #IMPLIED
>

<!ELEMENT test (env|remap|rosparam|param)*>
<!ATTLIST test
        %attrs;
        pkg CDATA #REQUIRED
        type CDATA #REQUIRED
        test-name CDATA #REQUIRED
        name CDATA #IMPLIED
        args CDATA #IMPLIED
        clear_params (true|false) #IMPLIED
        cwd (ROS_HOME|node) #IMPLIED
        launch-prefix CDATA #IMPLIED
        ns CDATA #IMPLIED
        retry CDATA #IMPLIED
        time-limit CDATA #IMPLIED
        >

<!ELEMENT machine (env)*>
<!ATTLIST machine
        %attrs;
        name CDATA #REQUIRED
        address CDATA #REQUIRED
        env-loader CDATA #IMPLIED
        default (true|false|never) #IMPLIED
        user CDATA #IMPLIED
        password CDATA #IMPLIED
        timeout CDATA #IMPLIED
        >

<!ELEMENT param EMPTY>
<!ATTLIST param
        %attrs;
        name CDATA #REQUIRED
        value CDATA #IMPLIED
        type (string|str|int|double|bool|yaml) #IMPLIED
        textfile CDATA #IMPLIED
        binfile CDATA #IMPLIED
        command CDATA #IMPLIED
        >

<!ELEMENT remap EMPTY>
<!ATTLIST remap
        %attrs;
        from CDATA #REQUIRED
        to CDATA #REQUIRED
        >

<!ELEMENT rosparam (#PCDATA)*>
<!ATTLIST rosparam
        %attrs;
        command CDATA #IMPLIED
        file CDATA #IMPLIED
        param CDATA #IMPLIED
        ns CDATA #IMPLIED
        subst_value (true|false) #IMPLIED
        >

roslaunch.xsd

<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
  
  <xs:simpleType name="SubstitutionType">
    <xs:restriction base="xs:string">
      <xs:pattern value="$\(anon .*|$\(arg .*|$\(dirname .*|$\(env .*|$\(eval .*|$\(find .*|$\(optenv .*"/>
    </xs:restriction>
  </xs:simpleType>
  
  <xs:simpleType name="BoolType">
    <xs:union memberTypes="SubstitutionType">
      <xs:simpleType>
        <xs:restriction base='xs:string'>
          <xs:enumeration value='true'/>
          <xs:enumeration value='false'/>
        </xs:restriction>
      </xs:simpleType>
    </xs:union>
  </xs:simpleType>
  
  <xs:simpleType name="StringType">
    <xs:union memberTypes="SubstitutionType">
      <xs:simpleType>
        <xs:restriction base='xs:string'>
          <xs:pattern value="[^$].*" />
        </xs:restriction>
      </xs:simpleType>
      <xs:simpleType>
        <xs:restriction base='xs:string'>
          <xs:enumeration value=''/>
        </xs:restriction>
      </xs:simpleType>
    </xs:union>
  </xs:simpleType>
  
  <xs:element name='launch'>
    <xs:complexType>
      <xs:choice minOccurs='0' maxOccurs='unbounded'>
        <xs:element ref='node'/>
        <xs:element ref='machine'/>
        <xs:element ref='include'/>
        <xs:element ref='remap'/>
        <xs:element ref='env'/>
        <xs:element ref='param'/>
        <xs:element ref='rosparam'/>
        <xs:element ref='group'/>
        <xs:element ref='test'/>
        <xs:element ref='arg'/>
      </xs:choice>
      <xs:attribute name='deprecated' type='StringType'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='arg'>
    <xs:annotation>
      <xs:documentation>
        Specifies arguments passed via command-line, via an include, or declared for higher-level files.
        Args are not global. Use $(arg name) to read an argument.
      </xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='name' type='StringType' use='required'/>
      <xs:attribute name='value' type='StringType'/>
      <xs:attribute name='default' type='StringType'/>
      <xs:attribute name='doc' type='StringType'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='env'>
    <xs:annotation>
      <xs:documentation>
        Set environment variables on nodes that are launched.
        When used inside of launch tag, only applies to nodes declared after.
      </xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='name' type='StringType' use='required'/>
      <xs:attribute name='value' type='StringType' use='required'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='group'>
    <xs:complexType>
      <xs:choice minOccurs='0' maxOccurs='unbounded'>
        <xs:element ref='group'/>
        <xs:element ref='node'/>
        <xs:element ref='machine'/>
        <xs:element ref='include'/>
        <xs:element ref='remap'/>
        <xs:element ref='env'/>
        <xs:element ref='param'/>
        <xs:element ref='rosparam'/>
        <xs:element ref='test'/>
        <xs:element ref='arg'/>
      </xs:choice>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='ns' type='StringType'/>
      <xs:attribute name='clear_params' type="BoolType"/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='include'>
    <xs:complexType>
      <xs:choice minOccurs='0' maxOccurs='unbounded'>
        <xs:element ref='env'/>
        <xs:element ref='arg'/>
      </xs:choice>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='file' type='StringType' use='required'/>
      <xs:attribute name='ns' type='StringType'/>
      <xs:attribute name='env-loader' type='StringType'/>
      <xs:attribute name='clear_params' type="BoolType"/>
      <xs:attribute name='pass_all_args' type="BoolType"/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='node'>
    <xs:complexType>
      <xs:choice minOccurs='0' maxOccurs='unbounded'>
        <xs:element ref='env'/>
        <xs:element ref='remap'/>
        <xs:element ref='rosparam'/>
        <xs:element ref='param'/>
      </xs:choice>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='pkg' type='StringType' use='required'/>
      <xs:attribute name='type' type='StringType' use='required'/>
      <xs:attribute name='name' type='StringType'/>
      <xs:attribute name='args' type='StringType'/>
      <xs:attribute name='machine' type='StringType'/>
      <xs:attribute name='respawn' type="BoolType"/>
      <xs:attribute name='respawn_delay' type='StringType'/>
      <xs:attribute name='required' type="BoolType"/>
      <xs:attribute name='clear_params' type="BoolType"/>
      <xs:attribute name='output'>
        <xs:simpleType>
          <xs:union memberTypes="SubstitutionType">
            <xs:simpleType>
              <xs:restriction base='xs:string'>
                <xs:enumeration value='log'/>
                <xs:enumeration value='screen'/>
              </xs:restriction>
            </xs:simpleType>
          </xs:union>
        </xs:simpleType>
      </xs:attribute>
      <xs:attribute name='cwd'>
        <xs:simpleType>
          <xs:union memberTypes="SubstitutionType">
            <xs:simpleType>
              <xs:restriction base='xs:string'>
                <xs:enumeration value='ROS_HOME'/>
                <xs:enumeration value='node'/>
              </xs:restriction>
            </xs:simpleType>
          </xs:union>
        </xs:simpleType>
      </xs:attribute>
      <xs:attribute name='launch-prefix' type='StringType'/>
      <xs:attribute name='ns' type='StringType'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='test'>
    <xs:complexType>
      <xs:choice minOccurs='0' maxOccurs='unbounded'>
        <xs:element ref='env'/>
        <xs:element ref='remap'/>
        <xs:element ref='rosparam'/>
        <xs:element ref='param'/>
      </xs:choice>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='pkg' type='StringType' use='required'/>
      <xs:attribute name='type' type='StringType' use='required'/>
      <xs:attribute name='test-name' type='StringType' use='required'/>
      <xs:attribute name='name' type='StringType'/>
      <xs:attribute name='args' type='StringType'/>
      <xs:attribute name='clear_params' type="BoolType"/>
      <xs:attribute name='cwd'>
        <xs:simpleType>
          <xs:union memberTypes="SubstitutionType">
            <xs:simpleType>
              <xs:restriction base='xs:string'>
                <xs:enumeration value='ROS_HOME'/>
                <xs:enumeration value='node'/>
              </xs:restriction>
            </xs:simpleType>
          </xs:union>
        </xs:simpleType>
      </xs:attribute>
      <xs:attribute name='launch-prefix' type='StringType'/>
      <xs:attribute name='ns' type='StringType'/>
      <xs:attribute name='retry' type='StringType'/>
      <xs:attribute name='time-limit' type='StringType'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='machine'>
    <xs:complexType>
      <xs:sequence minOccurs='0' maxOccurs='unbounded'>
        <xs:element ref='env'/>
      </xs:sequence>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='name' type='StringType' use='required'/>
      <xs:attribute name='address' type='StringType' use='required'/>
      <xs:attribute name='env-loader' type='StringType'/>
      <xs:attribute name='default'>
        <xs:simpleType>
          <xs:union memberTypes="BoolType">
            <xs:simpleType>
              <xs:restriction base='xs:string'>
                <xs:enumeration value='never'/>
              </xs:restriction>
            </xs:simpleType>
          </xs:union>
        </xs:simpleType>
      </xs:attribute>
      <xs:attribute name='user' type='StringType'/>
      <xs:attribute name='password' type='StringType'/>
      <xs:attribute name='timeout' type='StringType'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='param'>
    <xs:annotation>
      <xs:documentation>
        Defines parameter to be set on the Parameter Server as given value, from textfile, binfile or command output.
        Inside of a node tag, parameter is treated as a private.
      </xs:documentation>
    </xs:annotation>
    <xs:complexType>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='name' type='StringType' use='required'/>
      <xs:attribute name='value' type='StringType'/>
      <xs:attribute name='type'>
        <xs:simpleType>
          <xs:restriction base='xs:string'>
            <xs:enumeration value='string'/>
            <xs:enumeration value='str'/>
            <xs:enumeration value='int'/>
            <xs:enumeration value='double'/>
            <xs:enumeration value='bool'/>
            <xs:enumeration value='yaml'/>
          </xs:restriction>
        </xs:simpleType>
      </xs:attribute>
      <xs:attribute name='textfile' type='StringType'/>
      <xs:attribute name='binfile' type='StringType'/>
      <xs:attribute name='command' type='StringType'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='remap'>
    <xs:complexType>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='from' type='StringType' use='required'/>
      <xs:attribute name='to' type='StringType' use='required'/>
    </xs:complexType>
  </xs:element>
  
  <xs:element name='rosparam'>
    <xs:annotation>
      <xs:documentation>
        Enables rosparam YAML files for loading and dumping parameters to/from Parameter Server.
        Can also be used to remove parameters.
        Can either reference a YAML file or contain raw YAML text.
        If the YAML defines a dictionary, param attribute may be omitted.
      </xs:documentation>
    </xs:annotation>
    <xs:complexType mixed='true'>
      <xs:attribute name='if' type='StringType'/>
      <xs:attribute name='unless' type='StringType'/>
      <xs:attribute name='command' type='StringType'/>
      <xs:attribute name='file' type='StringType'/>
      <xs:attribute name='param' type='StringType'/>
      <xs:attribute name='ns' type='StringType'/>
      <xs:attribute name='subst_value' type="BoolType"/>
    </xs:complexType>
  </xs:element>
  
</xs:schema>

Shell: Check launch files against DTD

wget https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.dtd
find /opt/ros -iname '*.launch' -exec xmllint --valid --dtdvalid roslaunch.dtd  --noout  {} ';' 2>&1 | grep -v "no DTD found" | grep -v '<launch>'
# Missing DOCTYPE is reported as an error.
# $(...) will be rejected by this DTD for enum attributes

Shell: Check launch files against XSD

wget https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.xsd
find /opt/ros -iname '*.launch' -exec xmllint -schema roslaunch.xsd  --noout  {} ';'

# $(...) will be rejected

XML schema (XSD) ans DTD for Roslaunch files. The XSD should be prefered.

Code completion was tested with IntelliJ and Atom with autocomplete-xml.

Issues:

• $(arg ...) is not allowed in enum attributes

• group is not allowed within group, but this is often done

• <param type=string> is often used, but it should be str

This is awesome, thanks!!
I can confirm this also works in vim/neovim with the coc-xml plugin

Please consider adding a license file (MIT?) to make it clear that people can use it in their day to day development freely.

@nalt First of all, great work and thank you a lot!

Just reporting 2 problems:

1. as @bergercookie stated, please add a license
2. line 5 in roslaunch.xsd has a bug:

$\(dirname .*

should be:

$\(dirname\).*

@nalt
Just forked and changed that line (gist can't do pull requests):
https://gist.github.com/SubaruArai/957b7e2ebe212eb2a07d26a73f9a31c3