(Jetson Project#14)Automating Launch with a Master Launch File with little trouble and concern

7.3 Automating Launch with a Master Launch File

To simplify launching all nodes, create a master launch file that includes all necessary components.

Create a New ROS Package for Launching (Optional):

cd ~/catkin_ws/src
catkin_create_pkg robot_bringup rospy

Create the Master Launch File:

mkdir -p ~/catkin_ws/src/robot_bringup/launch
cd ~/catkin_ws/src/robot_bringup/launch
nano bringup.launch

Add the Following Content:

<launch>
  <!-- Launch roscore -->
  <!-- Note: roscore is usually launched separately. Avoid launching multiple roscore instances. -->
  
  <!-- Launch RPLIDAR -->
  <include file="$(find rplidar_ros)/launch/rplidar_a1.launch" />
  
  <!-- Launch IMU -->
  <include file="$(find mpu6050_driver)/launch/mpu6050.launch" />
  
  <!-- Launch TF Broadcaster -->
  <include file="$(find mpu6050_driver)/launch/tf_broadcaster.launch" />
  
  <!-- Launch Motor Control -->
  <include file="$(find motor_control)/launch/motor_control.launch" />
  
  <!-- Launch Obstacle Avoidance -->
  <include file="$(find motor_control)/launch/obstacle_avoidance.launch" />
  
  <!-- Launch RViz -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_bringup)/launch/robot.rviz" required="true" />
</launch>

Notes: Avoid Launching roscore Here: Typically, roscore is started independently. Ensure it's running before launching other nodes. RViz Configuration: You can create a pre-configured RViz file (robot.rviz) to streamline visualization.

5. Build the Workspace:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

6. Launch All Components Together:

roslaunch robot_bringup bringup.launch

7. But, trouble occur..
   

it just little mistake..

In "mpu6050.launch", already include "tf_broadcaster.launch"

So, don't need to add "tf_broadcaster.launch" in bringup.launch file..

Therefore, edit the bringup.launch.

And retry this.

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Relaunch All Components Together:

roslaunch robot_bringup bringup.launch

* There's something I'm a little concerned about..

In this terminal, sending just "Stop" not "Forward"

zz.. There's an F command. i didn't notice