A package for maintaining bring-up and configuration files
This package is used as a single entry point for starting background nodes on Robotont's on-board computer. The files are designed to be automatically launched from systemd services located in /lib/systemd/system/. You may also use the launchers in this package to manually bring up the nodes, however before doing so, make sure that Robotont's systemd services have been stopped.
To use the full capability of the robot, run:
roslaunch robotont_support robotont_bringup.launchThis command will perform the following actions:
- start the robotont driver
- start the Realsense 3D camera driver
- serve the robotont web application
- load the robot description to the parameter server
- start the state publishers.
You can control whether the Realsense camera and the web application are started with the following arguments:
roslaunch robotont_support robotont_bringup.launch realsense:=false webapp:=falseThis launch file uses throttling node from topic_tools package to create additional ..._throttled depth camera topics with slowed down publishing rates. Throttling becomes useful when trying to transfer image/depth streams to a remote computer in limited bandwitdh conditions. Use the cam_fps argument to set the desired publishing rate for the throttled topics.
roslaunch robotont_support cam_throttling.launch cam_fps:=5