marc4813
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TLDR: Actually launch all of the hardware nodes from a single launch file in ugv_bringup.
In order to actually "start" the robot, all of the software nodes we've chosen so far need to be launched from a single (or group of connected) launch file(s). Ideally, this means that every sensor node (e.g. velodyne, vectornav), every control node (e.g. the roboteq packages and state machine), and so on will all be launched from the same place.
For an example, here's my senior design dumpster fire, or the Bowser bringup-by-another-name start.launch.
[ ] Sensor node bringup: Needs input from the people that integrated the sensors. Figure out how they got each of them started, isolate the specific launch files/commands/configuration needed to get it up, and stick it all in a launch file in ugv_bringup. Completion Criteria: you can view the output of all of the sensors from rviz, after launching them all from a single
roslaunch ugv_bringup <blah>.launchcommand. (If you need to do additional command line stuff, you're not done)[ ] Robot info bringup: All of the higher level "robot" stuff needs to be brought up, such as tf information (joint_state_publisher node and robot_description param) and any pub/sub scripts we're using to convert messages back and forth. Completion Criteria: (assuming it's all configured properly) information about the robot is being published, and any needed message conversions are being subscribed/published.
[ ] Navigation software: Once all of the sensor streams and robot info are available, launch the navigation software.
[ ] Taste-testing the whole enchilada: Make sure you have everything you need. Completion Criteria: The best way to do this is a combo of rqt_graph (all nodes + topics visualized) and rviz.