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solo12_bringup

This is the main package to launch all the components.

Usage: robot.launch.py

To launch the full system is robot.launch.py, example:

ros2 launch solo12_bringup robot.launch.py

Launch arguments:

  • use_sim: Start Gazebo (default true), otherwise start hardware.
  • start_rviz: Run rviz (default true).
  • rviz_config_file: Custom rviz config file (default solo12_description/rviz/solo12.rviz)
  • robot_name: Robot name (default "solo12"). For now just set the gazebo entity name, but this can be used later to spawn multiples robot.
  • stand: Spawn robot on stand (default true).

Example:

ros2 launch solo12_bringup robot.launch.py stand:=true use_rviz:=false

state_publisher.launch.py

This launch file is the main and only source for the robot_description. If you want to make use of the robot_description, please subscribe to the topic /robot_description.

Launch arguments:

  • use_sim_time: Sync ros and gazebo time (default true)

controllers.launch.py

Launch all the components related with ros2_control.

Launch arguments:

  • use_sim_time: Sync ros and gazebo time (default true)

sim_gazebo.launch.py

Start the gazebo simulation environment. Spawn the robot and the stand.

Launch arguments:

  • stand: spawn stand model into gazebo (default true).
  • robot_name: robot entity name in gazebo (default "solo12")

start_rviz.launch.py

Start rviz.

Launch arguments:

  • rviz_config_file: Custom cofiguration file to start rviz (no default value)