Launching ROS Drivers
ROS Launch (Preferred)
ROS provides a utility (invoked with roslaunch) to launch nodes with specific configurations in what are known as launch files. A launch file allows multiple configurations or complex configurations of launching a node (or multiple nodes) in a ROS environment. AutonomouStuff provides example launch files with all drivers in our AutonomouStuff Driver Pack. Example launch files can be found at <as_drivers_install>/install/share/<node_name>/launch/. Paths to launch files do not need to be supplied if the AutonomouStuff Driver Pack location is included in the ROS_PACKAGE_PATH.
To run a specific driver's launch file using roslaunch:
roslaunch <package_name> <file_name>.launch
e.g.
roslaunch delphi_esr delphi_esr.launch
To provide values for arguments defined in the launch file:
roslaunch delphi_esr delphi_esr.launch can_hardware_id:=<ID> can_circuit_id:=<ID> esr_frame_id:=<frame_id>
ROS Run
rosrun can be used to invoke a binary manually. This uses the same information as a <node> definition in a launch file.
To run a driver using rosrun:
rosrun <package_name> <node_name> <rosparams and arguments>
e.g.
rosrun delphi_esr delphi_esr_can _can_hardware_id:=<ID> _can_circuit_id:=<ID> _sensor_frame_id:=<frame_id>
or alternatively you can invoke the executable by using its path
./delphi_esr_can _can_hardware_id:=<ID> _can_circuit_id:=<ID> _sensor_frame_id:=<frame_id>
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