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Contents

• Prerequisites
• How to run launch file

Prerequisites

To understand the content on this page, you should know how to

• Make a launch file using yaml.
• Read

How to run launch file

In order to get the device name for the launch files, plug in your controllers and open the terminal and run ros2 run joy joy_enumerate_devices. This will give you the names of the devices and these will be your parameters for device name. After getting your device names, run colcon build, then "source install/setup.sh". Then run ros2 launch controls (name of your file). Then open a new terminal and run ros2 topic list and see if your two controllers are showing up on two separate topics.