`robot start` と `roslaunch jsk_pr2_startup pr2.launch` の違いを知りたい

[takayuki5168]

robot start すると立ち上がるnode

/app_manager
/base_hokuyo_node
/calibrate_pr2
/camera_synchronizer_node
/default_controllers_spawner
/diag_agg
/head_traj_controller/point_head_action
/imu_monitor
/imu_node
/joy_node
/l_forearm_cam
/l_forearm_cam/image_proc
/l_forearm_cam_trigger_spawner
/l_gripper_controller/gripper_action_node
/master_sync_pr1040_13730_7075979194933623954
/narrow_stereo/narrow_stereo_proc
/narrow_stereo_both
/narrow_stereo_left
/narrow_stereo_right
/narrow_stereo_textured/narrow_stereo_textured_proc
/ocean_server
/power_board
/power_monitor
/pr2_dashboard_aggregator
/pr2_mechanism_diagnostics
/pr2_run_stop_auto_restart
/prosilica/prosilica_driver
/prosilica/prosilica_nodelet_manager
/prosilica/rectify_image
/r_forearm_cam
/r_forearm_cam/image_proc
/r_forearm_cam_trigger_spawner
/r_gripper_controller/gripper_action_node
/realtime_cpu_monitor
/realtime_hd_monitor
/realtime_loop
/replication_client
/robot_pose_ekf
/robot_state_publisher
/rosapi
/rosbridge_websocket
/rosout
/sound_play
/sound_play_jp
/spawner_camera_synchronizer
/tf2_buffer_server
/tilt_hokuyo_node
/torso_controller/position_joint_action_node
/two_cpu_monitor
/two_hd_monitor
/voice_text
/wide_stereo/wide_stereo_proc
/wide_stereo_both
/wide_stereo_left
/wide_stereo_right

roslaunch jsk_pr2_startup pr2.launch すると追加で立ち上がるnode

/active_user
/amcl
/base_controller/joint_trajectory_action
/base_laser_self_filter
/base_scan_marking_to_laserscan
/base_scan_throttle
/base_shadow_filter
/battery_logger
/battery_visualization
/battery_warning
/cable_warning
/cmd_vel_mux
/cmd_vel_selector
/cmd_vel_smoother
/empty_cloud_publisher
/ground_object_cloud_throttle
/head_traj_controller/command_mux
/head_traj_controller/command_selector
/head_traj_controller_loose/traj_lock
/initialpose3d
/interpolate_missing_tilt_laser_data_filter
/kinect_head/deprecated_relay_depth_registered_camera_info
/kinect_head/deprecated_relay_depth_registered_points
/kinect_head/deprecated_relay_rgb_camera_info
/kinect_head/deprecated_relay_rgb_image_rect_color
/kinect_head/depth_metric
/kinect_head/depth_metric_rect
/kinect_head/depth_points
/kinect_head/depth_rectify_depth
/kinect_head/depth_registered/downsample_cloud_half
/kinect_head/depth_registered/downsample_cloud_quater
/kinect_head/depth_registered/relay_image_rect
/kinect_head/depth_registered/relay_image_rect_compressed
/kinect_head/depth_registered/throttle_camera_info
/kinect_head/depth_registered/throttle_cloud
/kinect_head/depth_registered/throttle_cloud_half
/kinect_head/depth_registered/throttle_cloud_quater
/kinect_head/depth_registered/throttle_image
/kinect_head/depth_registered_hw_metric_rect
/kinect_head/depth_registered_metric
/kinect_head/depth_registered_rectify_depth
/kinect_head/depth_registered_sw_metric_rect
/kinect_head/disparity_depth
/kinect_head/disparity_registered_hw
/kinect_head/disparity_registered_sw
/kinect_head/driver
/kinect_head/ir_rectify_ir
/kinect_head/kinect_head_c2_nodelet_manager
/kinect_head/kinect_head_nodelet_manager
/kinect_head/points_xyzrgb_hw_registered
/kinect_head/points_xyzrgb_sw_registered
/kinect_head/register_depth_rgb
/kinect_head/rgb/downsample_half
/kinect_head/rgb/downsample_quater
/kinect_head/rgb/throttle_camera_info
/kinect_head/rgb/throttle_rgb
/kinect_head/rgb_debayer
/kinect_head/rgb_rectify_color
/kinect_head/rgb_rectify_mono
/kinect_head_self_filter
/l_arm_controller_loose/traj_lock
/l_gripper_sensor_controller/event_detector_action_node
/l_gripper_sensor_controller/findContact_action_node
/l_gripper_sensor_controller/forceServo_action_node
/l_gripper_sensor_controller/grab_action_node
/l_gripper_sensor_controller/gripper_action_node
/l_gripper_sensor_controller/release_action_node
/l_gripper_sensor_controller/slipServo_action_node
/l_gripper_sensor_controller_spawner
/lifelog/action_logger
/lifelog/app_logger
/lifelog/base_trajectory_logger
/lifelog/camera_throttle
/lifelog/depth_camera_info_logger
/lifelog/depth_image_logger
/lifelog/joint_states_logger
/lifelog/joint_states_throttle
/lifelog/rgb_camera_info_logger
/lifelog/rgb_image_logger
/lifelog/smach_logger
/lifelog/speech_logger
/lifelog/tf_logger
/look_forward_in_navigation
/map_server
/map_server00_pr1040_2950_8616140607401805268
/map_server01_pr1040_2950_4257162252747541789
/map_server02_pr1040_2950_4089625560130511936
/map_server03_pr1040_2950_3821941238234539181
/map_server04_pr1040_2950_739516151556502624
/map_tf00_pr1040_2950_2002800991688263281
/map_tf01_pr1040_2950_1235231759561216934
/map_tf02_pr1040_2950_7018915596250538013
/map_tf03_pr1040_2950_6080200405614673341
/map_tf04_pr1040_2950_4941569994863552566
/map_tf05_pr1040_2950_6382777436004331141
/map_tf06_pr1040_2950_8509835634158345928
/map_tf07_pr1040_2950_2465941132917585352
/map_tf08_pr1040_2950_2774969620306309393
/map_tf09_pr1040_2950_3882286003229015984
/map_tfA_pr1040_2950_2376600872322914769
/map_tfB_pr1040_2950_8298373910482346143
/move_base_node
/move_base_node/local_costmap/voxel_grid_throttle
/multiple_joystick_mux
/pr2_left_arm_kinematics
/pr2_move_base_node
/pr2_reset_motors
/pr2_right_arm_kinematics
/pr2_teleop_general_joystick
/pr2_tweet_log
/publish_spot
/r_arm_controller_loose/traj_lock
/r_gripper_sensor_controller/event_detector_action_node
/r_gripper_sensor_controller/findContact_action_node
/r_gripper_sensor_controller/forceServo_action_node
/r_gripper_sensor_controller/grab_action_node
/r_gripper_sensor_controller/gripper_action_node
/r_gripper_sensor_controller/release_action_node
/r_gripper_sensor_controller/slipServo_action_node
/r_gripper_sensor_controller_spawner
/sac_ground_removal
/safe_teleop_base
/spawn_arm_controllers
/spawn_head_controller
/tf_mux
/tilt_laser_mux
/tilt_laser_self_filter
/tilt_shadow_filter
/torso_controller/command_mux
/torso_controller/command_selector
/tuck_arms_action
/tweet
/tweet_client_tablet
/tweet_client_uptime
/tweet_client_warning
/tweet_client_worktime
/tweet_image_mux
/tweet_image_saver
/unsafe_vel_mux
/unsafe_warning
/vel_type_selector
/wide_stereo_right

[takayuki5168]

robot start の詳細 jsk_pr2_startup pr2.laucnh の詳細