ROS Programming: Building Powerful Robots

The pan controller launch file

As we can see from the previous subsection, the pan controller launch file is the trigger for attaching the ROS controller to the detected servos. Here is the definition for the start_pan_controller.launch file:

This will start the pan joint controller:

    <launch> 
        <!-- Start tilt joint controller --> 
        <rosparam file="$(find face_tracker_control)/config/pan.yaml" 
     command="load"/> 
        <rosparam file="$(find 
    face_tracker_control)/config/servo_param.yaml" command="load"/> 
 
        <node name="tilt_controller_spawner" 
    pkg="dynamixel_controllers" type="controller_spawner.py" 
              args="--manager=dxl_manager 
                    --port pan_port 
                    pan_controller" 
              output="screen"/> 
    </launch> 

The controller_spawner.py node can spawn a controller for each detected ...