ROS Programming: Building Powerful Robots

Bringing all the nodes together

Next, we'll look at the final launch file, which we skipped while covering the face_tracker_pkg package, and that is start_dynamixel_tracking.launch. This launch file starts both face detection and tracking using Dynamixel motors:

    <launch> 
    <!-- Launching USB CAM launch files and Dynamixel controllers --> 
      <include file="$(find       
    face_tracker_pkg)/launch/start_tracking.launch"/><include 
    file="$(find    
    face_tracker_control)/launch/start_dynamixel.launch"/> 
    <!-- Starting face tracker node --> 
 
    <node name="face_controller" pkg="face_tracker_control"    
    type="face_tracker_controller" output="screen" /> 
 
    </launch>