Launch File System - Pitt-RAS/iarc7_common GitHub Wiki

To launch the large collection of nodes required to run the software stack a launch system has been devised using the roslaunch system.

The launch files live in their own repository inside the launch folder

Currently the launch files that launch the whole system are:

• hit_roomba.launch
• hold_position.launch
• takeoff_land.launch
• takeoff_translate_land.launch
• track_roomba.launch
• velocity_test.launch

The ones that can be most easily used if you want to test out your shiny new simulator are takeoff_land.launch, takeoff_translate_land.launch, and track_roomba.launch.

To launch a particular launch file in the sim run roslaunch iarc7_launch launchfilename.launch platform:=sim --screen

If you don't include the sim:=true part it will complain about not being able to find the launch file for the lidar because it doesn't exist on your system.