How to launch all relevant ROSBot 2.0 nodes?

jam · October 6, 2018, 12:21am

Does the ROSBot 2.0 have a single launch file that starts nodes for all of its capabilities and puts it in a ready-to-use state?

It seems like the most straightforward thing, but I can’t seem to find anything in the tutorials or the list of packages.

lukasz.mitka · October 6, 2018, 8:24am

Hello jam,

I suggest you to go through ROSbot - quick start tutorial. It will introduce you to ROSbot functionalities.

Regards,
Łukasz

jam · October 8, 2018, 1:15pm

Thanks Łukasz! For anyone else looking, this is the relevant launch file:

github.com

husarion/rosbot_webui/blob/master/launch/demo.launch

<launch>
    <include file="$(find astra_launch)/launch/astra.launch"></include>

    <include file="$(find rplidar_ros)/launch/rplidar.launch"></include>

    <node pkg="rosbot_webui" type="serial_bridge.sh" name="bridge" output="screen"/>

    <include file="$(find husarion_ros)/launch/wifi.launch"></include>

    <node pkg="tf" type="static_transform_publisher" name="ROSbot2_laser" args="0 0 0 3.14 0 0 base_link laser 10" />

    <node pkg="tf" type="static_transform_publisher" name="ROSbot2_camera" args="-0.04 0 0.15 0 0 0 base_link camera_link 10" />

    <node pkg="rosbot_webui" type="pose_to_tf_transform" name="pose_to_tf_transform" required="true"/>

    <node pkg="rosbot_webui" type="tf_to_pose" name="tf_to_pose" required="true" output="screen" />

    <node pkg="husarion_ros" type="depth_clipping_node" name="depth_clipping_node"/>

    <node pkg="husarion_ros" type="map_to_img_node" name="map_to_img" output="screen">

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