We are almost done! But how to test this teleop tool? We can create some launch file that can start all these nodes and work with some robot simulation. The gesture_teleop/launch folder has three launch files. Let's take a look at them.
The gesture_teleop.launch file is a generic launch file that can be used for any robot. The only thing we need to edit is the command velocity topic. Here is the definition of this launch file:
<launch>
<param name="teleop_topic" value="/cmd_vel"/>
<rosparam command="load" file="$(find
gesture_teleop)/config/teleop_config.yaml"/>
<node name="rosserial_server_node" pkg="rosserial_python"
type="serial_node.py" args="$(arg port)" output="screen"/>
<node name="gesture_teleop_node" pkg="gesture_teleop"
type="gesture_teleop.py" output="screen"/>
</launch> This launch file defines teleop_topic. You can change the command...