Hands-On ROS for Robotics Programming

Using the joint_state_publisher package

The section of the launch file that allows us to interactively rotate the wheels using a GUI is as follows:

 <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">   <param name="/use_gui" value="$(arg gui)"/> </node>

The joint_state_publisher node exposes the /use_gui parameter to decide whether it should show the joint_state_publisher window. If it's set to True, the window is active. If it is, we pass the desired value as a parameter to the node via the gui argument that's defined in the launch file:

<arg name="gui" default="False" />

Remember the roslaunch command:

$ roslaunch rviz_basics gopigoMinimal_rviz.launch model:=gopigoMinimal gui:=True

The gui argument ...