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1. Packages Description
Kartik Soni edited this page Sep 23, 2024
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Holds the robot description including URDF, STL, config files for RVIZ, and Gazebo.
| File | Description | Nodes Launched |
|---|---|---|
| display.launch.py | Launches Gazebo simulation with all necessary plugins and state publishers, along with RViz. | robot_state_publisher, joint_state_publisher, rviz2, gazebo_ros |
| rviz.launch.py | Launches RViz2 with necessary configuration. | rviz2 with configured settings |
| state_publisher.launch.py | Launches state publishers for the robot, including robot_state_publisher and joint_state_publisher nodes. | robot_state_publisher, joint_state_publisher |
Provides sensor and actuation topics.
| File | Description | Nodes Launched |
|---|---|---|
| bringup.launch.py | Launches the joy node and auto joy node for complete joystick and waypoint-based control of the robot using a joystick. | joy_node, auto_joy_teleop |
| hubble_scripts.launch.py | Provides feedback to the controller about network data and navigation data, including network_pub node and goal_status_publisher node. | network_publisher (freezed binaries), goal_status_publisher (freezed binaries) |
| mavros_launch.py | Launches Mavros Node | Mavros |
| micro_ros.launch.py | Launches MicroROS | Micro ROS |
Simulation environment for tortoisebotpromax in Gazebo.
| File | Description | Nodes Launched |
|---|---|---|
| gazebo.launch.py | Launches a Gazebo environment with a specified world, along with the gazebo_ros node. | gazebo_ros node |
| spawn_robot.launch.py | Launches a Gazebo environment with a specified world and spawns the robot with necessary plugins using gazebo_ros node. | gazebo_ros node, robot_state_publisher, joint_state_publisher, gazebo_controllers |