Book Image

Learning ROS for Robotics Programming Second Edition

Book Image

Learning ROS for Robotics Programming Second Edition

Overview of this book

Table of Contents (27 chapters)
Learning ROS for Robotics Programming Second Edition
Credits
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Author
Acknowledgments
About the Reviewer
About the Reviewer
Acknowledgments
About the Reviewers
www.PacktPub.com
Preface
Index

Creating a robot configuration


To launch the entire robot, we are going to create a launch file with all the necessary files to activate all the systems. Anyway, here you have a launch file for a real robot that you can use as a template. The following script is present in configuration_template.launch:

<launch>
  <node pkg="sensor_node_pkg" type="sensor_node_type" name="sensor_node_name" output="screen">
    <param name="sensor_param" value="param_value" />
  </node>

  <node pkg="odom_node_pkg" type="odom_node_type" name="odom_node" output="screen">
    <param name="odom_param" value="param_value" />
  </node>

  <node pkg="transform_configuration_pkg" type="transform_configuration_type" name="transform_configuration_name" output="screen">
    <param name="transform_configuration_param" value="param_value" />
  </node>
</launch>

This launch file will launch three nodes that will start up the robot.

Tip

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