ROS Programming: Building Powerful Robots

Integration and final run

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" ...