use sample.launch as default demo program

[k-okada]

also renamed run.launch -> driver.launch, not sure if this breaks someone useig this...

This Closes #22

• fix documents
• rename run -> driver not to confuse
• use sample.launch as sample program, run.launch is just to run driver nodes

[130s]

LGTM except one this: I still want RViz node to be in a root launch file knowing that end users don't even want to bother writing their own launch files.

[k-okada]

This is the use case;

1. If you just want to test the sensor alone, use sample.launch, that's runs driver, tf and Rviz. You can check if the sensor is working.
2. If you already integrate the sensor within your robot, you already have your own launch files that publish sensor tf frames and you already put your rviz node with in your own launch file, so you just include driver.launch

So If we put rviz node within driver.launch, you will start two rviz not one comes from driver.launch and another comes from your own launch file for your robot.

[130s]

I agree with the usecase.

Only thing I care is that end users may not even want to write launch files as much as possible. Tasks like e.g passing .rviz file are a simple for experienced users, but not for majority of users. That's why I included RViz node in run/driver.launch (, which is made as an option, not mandatory. Please see https://github.com/k-okada/dynpick_driver/issues/1).

[k-okada]

what do you mean by "end users", if you're running robot, you do not have to run rviz, your robot launch file, like nextage_ros_bridge_simulation.launch already runs rviz, so you'll create nextage_ros_bridge_simulation_force_sensor.launch that includes both nextage_ros_bridge_simulaiton.launch and driver.launch. If you're testing sensros, use sample.launch, which runs rviz.

◉ Kei Okada

On Wed, Mar 9, 2016 at 2:35 AM, Isaac I.Y. Saito notifications@github.com wrote:

I agree with the usecase.

Only thing I care is that end users may not even want to write launch files as much as possible. Tasks like e.g passing .rviz file are a simple for experienced users, but not for majority of users. That's why I included RViz node in run/driver.launch (, which is made as an option, not mandatory. Please see k-okada#1 https://github.com/k-okada/dynpick_driver/pull/1).

— Reply to this email directly or view it on GitHub https://github.com/tork-a/dynpick_driver/pull/23#issuecomment-193882201.

[130s]

what do you mean by "end users",

プログラムを実行する人を指したつもりです．

if you're running robot, you do not have to run rviz, your robot launch file, like nextage_ros_bridge_simulation.launch already runs rviz, so you'll create extage_ros_bridge_simulation_force_sensor.launch that includes both extage_ros_bridge_simulaiton.launch and driver.launch. If you're testing sensros, use sample.launch, which runs rviz.

That example makes sense to me. In RViz currently there's no way for the dependent packages (e.g. robot pkg like nextage_ros_bridge) to incorporate .rviz file that's specific to the driver (AFAIK), so it's dependent packages that have to prepare .rviz for the driver pkg.

+1. Merging.