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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Creating a launch file

To launch everything, we are going to create a launch file, chapter8_laserscan.launch:

<launch>
  <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node"/>
  <node pkg="rviz" type="rviz" name="rviz"
  args="-d $(find chapter8_tutorials)/config/laser.rviz"/>

  <node pkg="chapter8_tutorials" type="c8_laserscan" name="c8_laserscan" />
</launch>

Now, if you launch the chapter8_laserscan.launch file, three nodes will start: hokuyo_node, rviz, and c8_laserscan. You will see the RViz visualizer screen with the two-laser contour. The green contour is the new data, as shown in the following screenshot:

Creating a launch file

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