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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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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.

Note

Keep in mind that this example is for a simulated robot in Gazebo. If you remember the previous chapters, Gazebo publishes the odometry and the tf for us.

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> ...

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