Launching my_robot_configuration launch file

asked 2018-10-26 11:54:13 -0500

jawsqb
33 ●9 ●10 ●16

Hello!

I am going through the navigation stack tutorials and I've hit somewhat of a conceptual roadblock. For the my_robot_configuration.launch tutorial section, it states to create a launch file that will launch 3 nodes for the necessary topics for navigation (Odometry, tf, sensor).

However I have been slowly building up a simulation of a rover that is already publishing to these topics ( I have a gazebo plugin skid_steer that is already publishing odometry and hokuyo laser plugin that's already publishing sensor data)

I'm struggling to understand if its necessary for me to make new nodes to publish the same information. Or if it serves extra purpose.

My ultimate goal is to implement a ROS based rover first in simulation and then in real life, if anyone has already done this and is willing to talk with me about it, I would love to talk!!

Thank you!

answered 2018-10-27 14:07:48 -0500

billy
1850 ●24 ●87 ●47

From the tutorials page : "Ok.. so now we have a template for a launch file, but we need to fill it in for our specific robot. We'll walk through the changes that need to be made in each section below."

The tutorial is showing you a generic lesson and it is expected that you will be supplying the specific details where necessary if you have a robot that differs. The launch file is being used to launch the nodes used to publish the data. You have these nodes already and should simply fill the appropriate details into the launch file.

http://wiki.ros.org/navigation/Tutori...

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Thank you for your response!

I guess I am confused as to the distinction between putting the details of the nodes into the launch file when nodes are already publishing the necessary information.

For example odom topic is being published too, however not included in launch file.

jawsqb ( 2018-10-28 13:17:32 -0500 )edit

They are being published because you are starting those nodes manually. If you want to start each node manually then you can skip the launch file. The launch file simply makes it easy to start all your nodes. It is one command in one terminal vs one command in each of many terminals.

billy ( 2018-10-28 16:45:10 -0500 )edit

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