README

andino_bringup

Description

This package contains mainly launch files in order to launch all related driver and nodes to be used in the real robot. Some configuration files are also added to set up the nodes launched in the ‘config’ folder.

Launch Files

Main file

The main launch file is the andino_robot.launch.py file. This file executes all necessary nodes for Andino Robot to work.

It includes:

• andino_description.launch.py: file to load the 3D model of the robot from the URDF.

• andino_control.launch.py: file for the ros2_control nodes and drivers.

• camera.launch.py: file to execute the camera drivers, using v4l2_camera package. If not necessary, it can be disabled using the include_camera parameter.

• rplidar.launch.py: file to execute the drivers of the RP 2D LiDAR attached to the robot. If not necessary, it can be disabled using the include_rplidar parameter.

Other launch files included

These launch files are included just in case you want to command the robot in different ways, or visualize the information:

• rosbag_record.launch.py: executes the ros2 bag record command to store a ‘.bag’ file with the specified topics. If no topics are specified, it will record all of them.

• rviz.launch.py: executes the RViz visualization tool with the ‘andino.rviz’ configuration by default, to be able to visualize the 3D model of the robot and information from the topics.

• teleop_joystick.launch.py: this file allows you to command the robot using a controller with a joystick, using the teleop_twist_joy and the joy_linux packages.

• teleop_keyboard.launch.py: this file allows you to command the robot using a keyboard, using the teleop_twist_keyboard package.