We are almost done! But how to test this teleop tool? We can create some launch file that can start all these nodes and work with some robot simulation. The gesture_teleop/launch folder has three launch files. Let's take a look at them.
The gesture_teleop.launch file is a generic launch file that can be used for any robot. The only thing we need to edit is the command velocity topic. Here is the definition of this launch file:
<launch> <param name="teleop_topic" value="/cmd_vel"/> <rosparam command="load" file="$(find gesture_teleop)/config/teleop_config.yaml"/> <node name="rosserial_server_node" pkg="rosserial_python" type="serial_node.py" args="$(arg port)" output="screen"/> <node name="gesture_teleop_node" pkg="gesture_teleop" ...
