Hands-On ROS for Robotics Programming

Controlling the GoPiGo3 robot's wheels from RViz

The complete version of the robot can be launched with the following command:

$ roslaunch rviz_basics gopigoMinimal_rviz.launch model:=gopigoMinimal

What we are doing here is supplying an argument, gopigoMinimal, from the command line. If you pay attention to the content of the launch file, that is, gopigoMinimal_rviz.launch, you will find a new section at the beginning of the file tagged with <arg />:

<launch>    <!-- values passed by command line input -->    <arg name="model" default="gopigoMinimal" />    <arg name="gui" default="False" />    <!-- set these parameters on Parameter Server -->    <param name="robot_description" textfile="$(find rviz_basics)/urdf/$(arg model).urdf" />    <!-- Start 3 nodes: ...