Learning Robotics Using Python

Understanding ChefBot ROS launch files

We will discuss the functions of each launch files of the chefbot_bringup package.

• robot_standalone.launch: The main function of this launch file is to start nodes such as launchpad_node, pid_velocity, diff_tf, and twist_to_motor to get sensor values from the robot and to send command velocity to the robot.
• keyboard_teleop.launch: This launch file will start the teleoperation by using the keyboard. This launch starts the chefbot_keyboard_teleop.py node to perform the keyboard teleoperation.
• 3dsensor.launch : This file will launch Kinect OpenNI drivers and start publishing RGB and depth stream. It will also start the depth stream to laser scanner node, which will convert point cloud to laser scan data.
• gmapping_demo.launch ...