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Launch Files

shoreside.launch.py

Launches RViz and the onshore node to be launched on the shore-side computer.

Launch arguments:

  • launch_rviz: if true, launches RViz.

sim.launch.py

Launches a suite of ROS nodes to run the simulation environment.

Launch arguments:

  • launch_rviz: if true, launches RViz.

vehicle.launch.py

Launches a suite of ROS nodes to run on the boat. It is advisable to disable the nodes other than the fundamental subsystems (mavros, central hub, cameras, LiDAR, detections, etc.) which take a long time to launch, to be able to restart the tasks and functionalities that are quickly iterated during tests (and competition) without taking a long time, and possibly leaving ghost nodes that mess up the whole system.

Launch arguments:

  • location: one of the locations in locations.yaml
  • comms: "wifi", "lora", or "custom", use "custom" when we are using the custom EStop (basically all the time).

tasks.launch.py

Launches ROS nodes related to running tasks and functionalities other than the basic ones, to be able to launch and kill them more quickly.

vrx_gymkhana.launch.py

Runs the ghymkhana VRX task.

vrx_wayfinding.launch.py

Runs the wayfinding VRX task.